From 00d8f41a32701c6a996530a4ff9f0d65d4089962 Mon Sep 17 00:00:00 2001
From: s-azumi <38061530+s-azumi@users.noreply.github.com>
Date: Wed, 6 Mar 2019 16:15:31 +0900
Subject: [PATCH 01/23] fix thread handling of node_status_publisher. (#2058)

---
 .../autoware_health_checker/node_status_publisher.h |  4 +++-
 .../src/node_status_publisher.cpp                   | 13 ++++++++-----
 2 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/ros/src/system/autoware_health_checker/include/autoware_health_checker/node_status_publisher.h b/ros/src/system/autoware_health_checker/include/autoware_health_checker/node_status_publisher.h
index a1f4a7583b5..5f1fd866106 100644
--- a/ros/src/system/autoware_health_checker/include/autoware_health_checker/node_status_publisher.h
+++ b/ros/src/system/autoware_health_checker/include/autoware_health_checker/node_status_publisher.h
@@ -108,6 +108,8 @@ class NodeStatusPublisher {
   void publishStatus();
   bool node_activated_;
   std::mutex mtx_;
+  boost::thread publish_thread_;
+  bool ros_ok_;
 };
 }
-#endif // NODE_STATUS_PUBLISHER_H_INCLUDED
\ No newline at end of file
+#endif // NODE_STATUS_PUBLISHER_H_INCLUDED
diff --git a/ros/src/system/autoware_health_checker/src/node_status_publisher.cpp b/ros/src/system/autoware_health_checker/src/node_status_publisher.cpp
index a088ee6bd6b..ccc468dc6cc 100644
--- a/ros/src/system/autoware_health_checker/src/node_status_publisher.cpp
+++ b/ros/src/system/autoware_health_checker/src/node_status_publisher.cpp
@@ -23,17 +23,21 @@ namespace autoware_health_checker {
 NodeStatusPublisher::NodeStatusPublisher(ros::NodeHandle nh,
                                          ros::NodeHandle pnh) {
   node_activated_ = false;
+  ros_ok_ = true;
   nh_ = nh;
   pnh_ = pnh;
   status_pub_ =
       nh_.advertise<autoware_system_msgs::NodeStatus>("node_status", 10);
 }
 
-NodeStatusPublisher::~NodeStatusPublisher() {}
+NodeStatusPublisher::~NodeStatusPublisher() {
+  ros_ok_ = false;
+  publish_thread_.join();
+}
 
 void NodeStatusPublisher::publishStatus() {
   ros::Rate rate = ros::Rate(autoware_health_checker::UPDATE_RATE);
-  while (ros::ok()) {
+  while (ros_ok_) {
     mtx_.lock();
     autoware_system_msgs::NodeStatus status;
     status.node_activated = node_activated_;
@@ -70,8 +74,7 @@ void NodeStatusPublisher::publishStatus() {
 }
 
 void NodeStatusPublisher::ENABLE() {
-  boost::thread publish_thread(
-      boost::bind(&NodeStatusPublisher::publishStatus, this));
+  publish_thread_ = boost::thread(boost::bind(&NodeStatusPublisher::publishStatus, this));
   return;
 }
 
@@ -219,4 +222,4 @@ std::string NodeStatusPublisher::doubeToJson(double value) {
   write_json(ss, pt);
   return ss.str();
 }
-}
\ No newline at end of file
+}

From ab18a0358c18e15bb2f6e8cc04f57678671c579f Mon Sep 17 00:00:00 2001
From: Servando <43142004+sgermanserrano@users.noreply.github.com>
Date: Thu, 7 Mar 2019 08:10:45 +0000
Subject: [PATCH 02/23] Update wiki demo (#2091)

* Added images for wiki
---
 docs/images/demo_images/demo_load_map.png      | Bin 0 -> 385295 bytes
 docs/images/demo_images/demo_load_rosbag.png   | Bin 0 -> 332381 bytes
 docs/images/demo_images/demo_load_rviz.png     | Bin 0 -> 311481 bytes
 docs/images/demo_images/demo_map_shown.png     | Bin 0 -> 860374 bytes
 .../demo_images/demo_play_pause_rosbag.png     | Bin 0 -> 386274 bytes
 5 files changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 docs/images/demo_images/demo_load_map.png
 create mode 100644 docs/images/demo_images/demo_load_rosbag.png
 create mode 100644 docs/images/demo_images/demo_load_rviz.png
 create mode 100644 docs/images/demo_images/demo_map_shown.png
 create mode 100644 docs/images/demo_images/demo_play_pause_rosbag.png

diff --git a/docs/images/demo_images/demo_load_map.png b/docs/images/demo_images/demo_load_map.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c4fda04338517fdc12b9266b47bb012a5792710
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diff --git a/docs/images/demo_images/demo_map_shown.png b/docs/images/demo_images/demo_map_shown.png
new file mode 100644
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From 105bbe4cda51fe69e138299aaf08f6923a3f68f7 Mon Sep 17 00:00:00 2001
From: Kosuke Murakami <cirpue49@gmail.com>
Date: Fri, 8 Mar 2019 14:01:39 +0900
Subject: [PATCH 03/23] [Feature]PointPillars (#2029)

---
 .../lidar_point_pillars/CMakeLists.txt        | 148 +++++
 .../packages/lidar_point_pillars/README.md    |  82 +++
 .../lidar_point_pillars/anchor_mask_cuda.h    |  78 +++
 .../include/lidar_point_pillars/common.h      |  54 ++
 .../include/lidar_point_pillars/nms_cuda.h    |  62 ++
 .../lidar_point_pillars/point_pillars.h       | 316 ++++++++++
 .../lidar_point_pillars/point_pillars_ros.h   | 137 ++++
 .../lidar_point_pillars/postprocess_cuda.h    |  99 +++
 .../lidar_point_pillars/preprocess_points.h   | 108 ++++
 .../preprocess_points_cuda.h                  | 108 ++++
 .../lidar_point_pillars/scatter_cuda.h        |  58 ++
 .../launch/lidar_point_pillars.launch         |  24 +
 .../nodes/anchor_mask_cuda.cu                 | 205 ++++++
 .../nodes/lidar_point_pillars_node.cpp        |  31 +
 .../lidar_point_pillars/nodes/nms_cuda.cu     | 112 ++++
 .../nodes/point_pillars.cpp                   | 587 ++++++++++++++++++
 .../nodes/point_pillars_ros.cpp               | 182 ++++++
 .../nodes/postprocess_cuda.cu                 | 228 +++++++
 .../nodes/preprocess_points.cpp               | 153 +++++
 .../nodes/preprocess_points_cuda.cu           | 317 ++++++++++
 .../lidar_point_pillars/nodes/scatter_cuda.cu |  43 ++
 .../packages/lidar_point_pillars/package.xml  |  25 +
 .../lidar_point_pillars/test/data/dummy.onnx  | Bin 0 -> 1432 bytes
 .../test/src/test_point_pillars.cpp           | 404 ++++++++++++
 .../runtime_manager/scripts/computing.yaml    |  68 +-
 25 files changed, 3628 insertions(+), 1 deletion(-)
 create mode 100755 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt
 create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md
 create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/anchor_mask_cuda.h
 create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/common.h
 create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/nms_cuda.h
 create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/point_pillars.h
 create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/point_pillars_ros.h
 create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/postprocess_cuda.h
 create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/preprocess_points.h
 create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/preprocess_points_cuda.h
 create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/scatter_cuda.h
 create mode 100755 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/launch/lidar_point_pillars.launch
 create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/anchor_mask_cuda.cu
 create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/lidar_point_pillars_node.cpp
 create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/nms_cuda.cu
 create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp
 create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp
 create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/postprocess_cuda.cu
 create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points.cpp
 create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points_cuda.cu
 create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/scatter_cuda.cu
 create mode 100755 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/package.xml
 create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/data/dummy.onnx
 create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp

diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt
new file mode 100755
index 00000000000..87d2a5728b8
--- /dev/null
+++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt
@@ -0,0 +1,148 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(lidar_point_pillars)
+
+# set flags for CUDA availability
+option(CUDA_AVAIL "CUDA available" OFF)
+find_package(CUDA)
+if (CUDA_FOUND)
+  message("CUDA is available!")
+  message("CUDA Libs: ${CUDA_LIBRARIES}")
+  message("CUDA Headers: ${CUDA_INCLUDE_DIRS}")
+  set(CUDA_AVAIL ON)
+else()
+  message("CUDA NOT FOUND")
+  set(CUDA_AVAIL OFF)
+endif (CUDA_FOUND)
+
+# set flags for TensorRT availability
+option(TRT_AVAIL "TensorRT available" OFF)
+# try to find the tensorRT modules
+find_library(NVINFER NAMES nvinfer)
+find_library(NVPARSERS NAMES nvparsers)
+find_library(NVONNXPARSERS NAMES nvonnxparser)
+if(NVINFER AND NVPARSERS AND NVONNXPARSERS)
+   message("TensorRT is available!")
+   message("NVINFER: ${NVINFER}")
+   message("NVPARSERS: ${NVPARSERS}")
+   message("NVONNXPARSERS: ${NVONNXPARSERS}")
+   set(TRT_AVAIL ON)
+else()
+  message("TensorRT is NOT Available")
+  set(TRT_AVAIL OFF)
+endif()
+
+# set flags for CUDNN availability
+option(CUDNN_AVAIL "CUDNN available" OFF)
+# try to find the CUDNN module
+find_library(CUDNN_LIBRARY
+NAMES libcudnn.so${__cudnn_ver_suffix} libcudnn${__cudnn_ver_suffix}.dylib ${__cudnn_lib_win_name}
+PATHS $ENV{LD_LIBRARY_PATH} ${__libpath_cudart} ${CUDNN_ROOT_DIR} ${PC_CUDNN_LIBRARY_DIRS} ${CMAKE_INSTALL_PREFIX}
+PATH_SUFFIXES lib lib64 bin
+DOC "CUDNN library." )
+if(CUDNN_LIBRARY)
+   message("CUDNN is available!")
+   message("CUDNN_LIBRARY: ${CUDNN_LIBRARY}")
+   set(CUDNN_AVAIL ON)
+else()
+  message("CUDNN is NOT Available")
+  set(CUDNN_AVAIL OFF)
+endif()
+
+if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
+
+  find_package(autoware_build_flags REQUIRED)
+  find_package(catkin REQUIRED COMPONENTS
+   roscpp
+   roslib
+   pcl_ros
+   autoware_msgs
+   )
+  set(CMAKE_CXX_STANDARD 11)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+
+  catkin_package(
+   CATKIN_DEPENDS
+   roscpp
+   roslib
+   pcl_ros
+   autoware_msgs
+   )
+
+  include_directories(
+   include
+   ${catkin_INCLUDE_DIRS}
+  )
+  set(SOURCE_FILES
+   nodes/lidar_point_pillars_node.cpp
+   nodes/point_pillars_ros.cpp
+   )
+
+  add_executable(lidar_point_pillars
+         ${SOURCE_FILES})
+
+  add_dependencies(lidar_point_pillars
+         ${catkin_EXPORTED_TARGETS}
+         )
+
+
+  cuda_add_library(gpu_point_pillars_lib
+         nodes/preprocess_points_cuda.cu
+         nodes/anchor_mask_cuda.cu
+         nodes/scatter_cuda.cu
+         nodes/postprocess_cuda.cu
+         nodes/nms_cuda.cu
+         )
+
+  target_link_libraries(gpu_point_pillars_lib
+   ${CUDA_LIBRARIES}
+  )
+
+  add_library(point_pillars_lib
+         nodes/point_pillars.cpp
+         nodes/preprocess_points.cpp
+         )
+
+   target_link_libraries(point_pillars_lib
+         ${NVINFER}
+         ${NVONNXPARSERS}
+         ${CUDA_LIBRARIES}
+         ${CUDA_CUBLAS_LIBRARIES}
+         ${CUDA_curand_LIBRARY}
+         ${CUDNN_LIBRARY}
+         gpu_point_pillars_lib
+         )
+
+  target_link_libraries(lidar_point_pillars
+         ${catkin_LIBRARIES}
+         point_pillars_lib
+         )
+
+
+  install(TARGETS
+         gpu_point_pillars_lib
+         point_pillars_lib
+         lidar_point_pillars
+         ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+         RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+
+  install(DIRECTORY launch/
+         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+         PATTERN ".svn" EXCLUDE)
+
+  install(DIRECTORY include/
+         DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/${PROJECT_NAME}/
+         PATTERN ".svn" EXCLUDE
+         )
+
+  if (CATKIN_ENABLE_TESTING)
+    find_package(rostest REQUIRED)
+    catkin_add_gtest(test-point_pillars test/src/test_point_pillars.cpp)
+    target_link_libraries(test-point_pillars ${catkin_LIBRARIES} point_pillars_lib)
+  endif()
+else()
+  find_package(catkin REQUIRED)
+  catkin_package()
+  message("PointPillars won't be built, CUDA and/or TensorRT were not found.")
+endif()
diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md
new file mode 100644
index 00000000000..3cef61d109a
--- /dev/null
+++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md
@@ -0,0 +1,82 @@
+# Point Pillars for 3D Object Detection: ver. 1.0
+
+Autoware package for Point Pillars.  [Referenced paper](https://arxiv.org/abs/1812.05784).
+
+## Requirements
+
+CUDA Toolkit v9.0 or v10.0
+
+CUDNN: Tested with v7.3.1
+
+TensorRT: Tested with 5.0.2 -> [How to install](https://docs.nvidia.com/deeplearning/sdk/tensorrt-install-guide/index.html#installing)
+
+## How to setup
+
+1. Install CUDA from this [website](https://developer.nvidia.com/cuda-downloads)
+
+2. Install CUDNN
+
+3. [Download](https://docs.nvidia.com/deeplearning/sdk/tensorrt-install-guide/index.html#downloading) the TensorRT local repo file that matches the Ubuntu version you are using.
+
+4. Install TensorRT from the Debian local repo package.
+
+```
+$ sudo dpkg -i  
+nv-tensorrt-repo-ubuntu1x04-cudax.x-trt5.x.x.x-ga-yyyymmdd_1-1_amd64.deb
+$ sudo apt-key add /var/nv-tensorrt-repo-cudax.x-trt5.x.x.x-ga-yyyymmdd/7fa2af80.pub
+
+$ sudo apt-get update
+$ sudo apt-get install tensorrt
+```
+
+4. Download the pretrained file from [here](https://github.com/cirpue49/kitti_pretrained_pp).
+
+```
+$ git clone git@github.com:cirpue49/kitti_pretrained_point_pillars.git
+```
+
+
+
+## How to launch
+
+* Launch file:
+`roslaunch lidar_point_pillars lidar_point_pillars.launch pfe_onnx_file:=/PATH/TO/FILE.onnx rpn_onnx_file:=/PATH/TO/FILE.onnx input_topic:=/points_raw`
+
+* You can launch it through the runtime manager in Computing tab, as well.
+
+## API
+```
+/**
+* @brief Call PointPillars for the inference.
+* @param[in] in_points_array pointcloud array
+* @param[in] in_num_points Number of points
+* @param[out] out_detections Output bounding box from the network
+* @details This is an interface for the algorithm.
+*/
+void doInference(float* in_points_array, int in_num_points, std::vector<float> out_detections);
+```
+
+## Parameters
+
+|Parameter| Type| Description|Default|
+----------|-----|--------|----|
+|`input_topic`|*String*|Input topic Pointcloud. |`/points_raw`|
+|`baselink_support`|*Bool*|Whether to use baselink to adjust parameters. |`True`|
+|`reproduce_result_mode`|*Bool*|Whether to enable reproducible result mode at the cost of the runtime. |`False`|
+|`score_threshold`|*Float*|Minimum score required to include the result [0,1]|0.5|
+|`nms_overlap_threshold`|*Float*|Minimum IOU required to have when applying NMS [0,1]|0.5|
+|`pfe_onnx_file`|*String* |Path to the PFE onnx file||
+|`rpn_onnx_file`|*String* |Path to the RPN onnx file||
+
+## Outputs
+
+|Topic|Type|Description|
+|---|---|---|
+|`/detection/lidar_detector/objects`|`autoware_msgs/DetectedObjetArray`|Array of Detected Objects in Autoware format|
+
+## Notes
+
+* To display the results in Rviz `objects_visualizer` is required.
+(Launch file launches automatically this node).
+
+* Pretrained models are available [here](https://github.com/cirpue49/kitti_pretrained_pp), trained with the help of the KITTI dataset. For this reason, these are not suitable for commercial purposes. Derivative works are bound to the BY-NC-SA 3.0 License. (https://creativecommons.org/licenses/by-nc-sa/3.0/)
diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/anchor_mask_cuda.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/anchor_mask_cuda.h
new file mode 100644
index 00000000000..255ac480bb5
--- /dev/null
+++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/anchor_mask_cuda.h
@@ -0,0 +1,78 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+* @file anchor_mask_cuda.h
+* @brief Make anchor mask for filtering output
+* @author Kosuke Murakami
+* @date 2019/02/26
+*/
+
+#ifndef ANCHOR_MASK_CUDA_H
+#define ANCHOR_MASK_CUDA_H
+
+class AnchorMaskCuda
+{
+private:
+  const int NUM_INDS_FOR_SCAN_;
+  const int NUM_ANCHOR_X_INDS_;
+  const int NUM_ANCHOR_Y_INDS_;
+  const int NUM_ANCHOR_R_INDS_;
+  const float MIN_X_RANGE_;
+  const float MIN_Y_RANGE_;
+  const float PILLAR_X_SIZE_;
+  const float PILLAR_Y_SIZE_;
+  const int GRID_X_SIZE_;
+  const int GRID_Y_SIZE_;
+
+public:
+  /**
+  * @brief Constructor
+  * @param[in] NUM_INDS_FOR_SCAN Number of indexes for scan(cumsum)
+  * @param[in] NUM_ANCHOR_X_INDS Number of x-indexes for anchors
+  * @param[in] NUM_ANCHOR_Y_INDS Number of y-indexes for anchors
+  * @param[in] NUM_ANCHOR_R_INDS Number of rotation-indexes for anchors
+  * @param[in] MIN_X_RANGE Minimum x value for pointcloud
+  * @param[in] MIN_Y_RANGE Minimum y value for pointcloud
+  * @param[in] PILLAR_X_SIZE Size of x-dimension for a pillar
+  * @param[in] PILLAR_Y_SIZE Size of y-dimension for a pillar
+  * @param[in] GRID_X_SIZE Number of pillars in x-coordinate
+  * @param[in] GRID_Y_SIZE Number of pillars in y-coordinate
+  * @details Captital variables never change after the compile
+  */
+  AnchorMaskCuda(const int NUM_INDS_FOR_SCAN, const int NUM_ANCHOR_X_INDS, const int NUM_ANCHOR_Y_INDS,
+                 const int NUM_ANCHOR_R_INDS, const float MIN_X_RANGE, const float MIN_Y_RANGE,
+                 const float PILLAR_X_SIZE, const float PILLAR_Y_SIZE, const int GRID_X_SIZE, const int GRID_Y_SIZE);
+
+  /**
+  * @brief call cuda code for making anchor mask
+  * @param[in] dev_sparse_pillar_map Grid map representation for pillar occupancy
+  * @param[in] dev_cumsum_along_x Array for storing cumsum-ed dev_sparse_pillar_map values
+  * @param[in] dev_cumsum_along_y Array for storing cumsum-ed dev_cumsum_along_y values
+  * @param[in] dev_box_anchors_min_x Array for storing min x value for each anchor
+  * @param[in] dev_box_anchors_min_y Array for storing min y value for each anchor
+  * @param[in] dev_box_anchors_max_x Array for storing max x value for each anchor
+  * @param[in] dev_box_anchors_max_y Array for storing max y value for each anchor
+  * @param[in] dev_box_anchors_max_y Array for storing max y value for each anchor
+  * @param[out] dev_anchor_mask Anchor mask for filtering the network output
+  * @details dev_* means device memory. Make a mask for filtering pillar occupancy area
+  */
+  void doAnchorMaskCuda(int* dev_sparse_pillar_map, int* dev_cumsum_along_x, int* dev_cumsum_along_y,
+                        const float* dev_box_anchors_min_x, const float* dev_box_anchors_min_y,
+                        const float* dev_box_anchors_max_x, const float* dev_box_anchors_max_y, int* dev_anchor_mask);
+};
+
+#endif  // ANCHOR_MASK_CUDA_H
diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/common.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/common.h
new file mode 100644
index 00000000000..283e16be0e3
--- /dev/null
+++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/common.h
@@ -0,0 +1,54 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+* @file common.h
+* @brief MACRO for CUDA codes
+* @author Kosuke Murakami
+* @date 2019/02/26
+*/
+
+#ifndef COMMON_H
+#define COMMON_H
+
+// headers in STL
+#include <stdio.h>
+
+// headers in CUDA
+#include <cuda_runtime_api.h>
+
+//using MACRO to allocate memory inside CUDA kernel
+#define NUM_3D_BOX_CORNERS_MACRO 8
+#define NUM_2D_BOX_CORNERS_MACRO 4
+#define NUM_THREADS_MACRO 64 // need to be changed when NUM_THREADS is changed
+
+#define DIVUP(m, n) ((m) / (n) + ((m) % (n) > 0))
+
+#define GPU_CHECK(ans)                                                                                                 \
+  {                                                                                                                    \
+    GPUAssert((ans), __FILE__, __LINE__);                                                                              \
+  }
+inline void GPUAssert(cudaError_t code, const char* file, int line, bool abort = true)
+{
+  if (code != cudaSuccess)
+  {
+    fprintf(stderr, "GPUassert: %s %s %d\n", cudaGetErrorString(code), file, line);
+    if (abort)
+      exit(code);
+  }
+}
+
+#endif  // COMMON_H
diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/nms_cuda.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/nms_cuda.h
new file mode 100644
index 00000000000..bf4c3501ba1
--- /dev/null
+++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/nms_cuda.h
@@ -0,0 +1,62 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+* @file nms_cuda.h
+* @brief Non-maximum suppresion for network output
+* @author Modified by Kosuke Murakami
+* @date 2019/02/26
+*/
+
+#ifndef NMS_CUDA_H
+#define NMS_CUDA_H
+
+// heders in STL
+#include <vector>
+#include <iostream>
+
+// headers in local files
+#include "lidar_point_pillars/common.h"
+
+class NMSCuda
+{
+private:
+  const int NUM_THREADS_;
+  const int NUM_BOX_CORNERS_;
+  const float nms_overlap_threshold_;
+
+public:
+  /**
+  * @brief Constructor
+  * @param[in] NUM_THREADS Number of threads when launching cuda kernel
+  * @param[in] NUM_BOX_CORNERS Number of corners for 2D box
+  * @param[in] nms_overlap_threshold IOU threshold for NMS
+  * @details Captital variables never change after the compile, Non-captital variables could be chaned through rosparam
+  */
+  NMSCuda(const int NUM_THREADS, const int NUM_BOX_CORNERS, const float nms_overlap_threshold);
+
+  /**
+  * @brief GPU Non-Maximum Suppresion for network output
+  * @param[in] host_filter_count Number of filtered output
+  * @param[in] dev_sorted_box_for_nms Bounding box output sorted by score
+  * @param[out] out_keep_inds Indexes of selected bounding box
+  * @param[out] out_num_to_keep Number of kept bounding boxes
+  * @details NMS in GPU and postprocessing for selecting box in CPU
+  */
+  void doNMSCuda(const int host_filter_count, float* dev_sorted_box_for_nms, int* out_keep_inds, int& out_num_to_keep);
+};
+
+#endif  // NMS_CUDA_H
diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/point_pillars.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/point_pillars.h
new file mode 100644
index 00000000000..249a8da4245
--- /dev/null
+++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/point_pillars.h
@@ -0,0 +1,316 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+* @file point_pillars.h
+* @brief Algorithm for PointPillars
+* @author Kosuke Murakami
+* @date 2019/02/26
+*/
+
+#ifndef POINTS_PILLAR_H
+#define POINTS_PILLAR_H
+
+// headers in STL
+#include <vector>
+#include <iomanip>
+#include <string>
+#include <map>
+#include <cmath>
+#include <algorithm>
+#include <limits>
+
+// headers in TensorRT
+#include "NvInfer.h"
+#include "NvOnnxParser.h"
+
+// headers in local files
+#include "lidar_point_pillars/common.h"
+#include "lidar_point_pillars/preprocess_points.h"
+#include "lidar_point_pillars/preprocess_points_cuda.h"
+#include "lidar_point_pillars/anchor_mask_cuda.h"
+#include "lidar_point_pillars/scatter_cuda.h"
+#include "lidar_point_pillars/postprocess_cuda.h"
+
+// Logger for TensorRT info/warning/errors
+class Logger : public nvinfer1::ILogger
+{
+public:
+  Logger(Severity severity = Severity::kWARNING) : reportableSeverity(severity)
+  {
+  }
+
+  void log(Severity severity, const char* msg) override
+  {
+    // suppress messages with severity enum value greater than the reportable
+    if (severity > reportableSeverity)
+      return;
+
+    switch (severity)
+    {
+      case Severity::kINTERNAL_ERROR:
+        std::cerr << "INTERNAL_ERROR: ";
+        break;
+      case Severity::kERROR:
+        std::cerr << "ERROR: ";
+        break;
+      case Severity::kWARNING:
+        std::cerr << "WARNING: ";
+        break;
+      case Severity::kINFO:
+        std::cerr << "INFO: ";
+        break;
+      default:
+        std::cerr << "UNKNOWN: ";
+        break;
+    }
+    std::cerr << msg << std::endl;
+  }
+
+  Severity reportableSeverity;
+};
+
+class PointPillars
+{
+private:
+  friend class TestClass;
+  // initize in initializer list
+  const bool reproduce_result_mode_;
+  const float score_threshold_;
+  const float nms_overlap_threshold_;
+  const std::string pfe_onnx_file_;
+  const std::string rpn_onnx_file_;
+  const int MAX_NUM_PILLARS_;
+  const int MAX_NUM_POINTS_PER_PILLAR_;
+  const int PFE_OUTPUT_SIZE_;
+  const int GRID_X_SIZE_;
+  const int GRID_Y_SIZE_;
+  const int GRID_Z_SIZE_;
+  const int RPN_INPUT_SIZE_;
+  const int NUM_ANCHOR_X_INDS_;
+  const int NUM_ANCHOR_Y_INDS_;
+  const int NUM_ANCHOR_R_INDS_;
+  const int NUM_ANCHOR_;
+  const int RPN_BOX_OUTPUT_SIZE_;
+  const int RPN_CLS_OUTPUT_SIZE_;
+  const int RPN_DIR_OUTPUT_SIZE_;
+  const float PILLAR_X_SIZE_;
+  const float PILLAR_Y_SIZE_;
+  const float PILLAR_Z_SIZE_;
+  const float MIN_X_RANGE_;
+  const float MIN_Y_RANGE_;
+  const float MIN_Z_RANGE_;
+  const float MAX_X_RANGE_;
+  const float MAX_Y_RANGE_;
+  const float MAX_Z_RANGE_;
+  const int BATCH_SIZE_;
+  const int NUM_INDS_FOR_SCAN_;
+  const int NUM_THREADS_;
+  const float SENSOR_HEIGHT_;
+  const float ANCHOR_DX_SIZE_;
+  const float ANCHOR_DY_SIZE_;
+  const float ANCHOR_DZ_SIZE_;
+  const int NUM_BOX_CORNERS_;
+  const int NUM_OUTPUT_BOX_FEATURE_;
+  // end initializer list
+
+  int host_pillar_count_[1];
+
+  float* anchors_px_;
+  float* anchors_py_;
+  float* anchors_pz_;
+  float* anchors_dx_;
+  float* anchors_dy_;
+  float* anchors_dz_;
+  float* anchors_ro_;
+
+  float* box_anchors_min_x_;
+  float* box_anchors_min_y_;
+  float* box_anchors_max_x_;
+  float* box_anchors_max_y_;
+
+  // cuda malloc
+  float* dev_pillar_x_in_coors_;
+  float* dev_pillar_y_in_coors_;
+  float* dev_pillar_z_in_coors_;
+  float* dev_pillar_i_in_coors_;
+  int* dev_pillar_count_histo_;
+
+  int* dev_x_coors_;
+  int* dev_y_coors_;
+  float* dev_num_points_per_pillar_;
+  int* dev_sparse_pillar_map_;
+  int* dev_cumsum_along_x_;
+  int* dev_cumsum_along_y_;
+
+  float* dev_pillar_x_;
+  float* dev_pillar_y_;
+  float* dev_pillar_z_;
+  float* dev_pillar_i_;
+
+  float* dev_x_coors_for_sub_shaped_;
+  float* dev_y_coors_for_sub_shaped_;
+  float* dev_pillar_feature_mask_;
+
+  float* dev_box_anchors_min_x_;
+  float* dev_box_anchors_min_y_;
+  float* dev_box_anchors_max_x_;
+  float* dev_box_anchors_max_y_;
+  int* dev_anchor_mask_;
+
+  void* pfe_buffers_[9];
+  void* rpn_buffers_[4];
+
+  float* dev_scattered_feature_;
+
+  float* dev_anchors_px_;
+  float* dev_anchors_py_;
+  float* dev_anchors_pz_;
+  float* dev_anchors_dx_;
+  float* dev_anchors_dy_;
+  float* dev_anchors_dz_;
+  float* dev_anchors_ro_;
+  float* dev_filtered_box_;
+  float* dev_filtered_score_;
+  int* dev_filtered_dir_;
+  float* dev_box_for_nms_;
+  int* dev_filter_count_;
+
+  std::unique_ptr<PreprocessPoints> preprocess_points_ptr_;
+  std::unique_ptr<PreprocessPointsCuda> preprocess_points_cuda_ptr_;
+  std::unique_ptr<AnchorMaskCuda> anchor_mask_cuda_ptr_;
+  std::unique_ptr<ScatterCuda> scatter_cuda_ptr_;
+  std::unique_ptr<PostprocessCuda> postprocess_cuda_ptr_;
+
+  Logger g_logger_;
+  nvinfer1::IExecutionContext* pfe_context_;
+  nvinfer1::IExecutionContext* rpn_context_;
+  nvinfer1::IRuntime* pfe_runtime_;
+  nvinfer1::IRuntime* rpn_runtime_;
+  nvinfer1::ICudaEngine* pfe_engine_;
+  nvinfer1::ICudaEngine* rpn_engine_;
+
+  /**
+  * @brief Memory allocation for device memory
+  * @details Called in the constructor
+  */
+  void deviceMemoryMalloc();
+
+  /**
+  * @brief Initializing anchor
+  * @details Called in the constructor
+  */
+  void initAnchors();
+
+  /**
+  * @brief Initializing TensorRT instances
+  * @details Called in the constructor
+  */
+  void initTRT();
+
+  /**
+  * @brief Generate anchors
+  * @param[in] anchors_px_ Represents x-coordinate values for a corresponding anchor
+  * @param[in] anchors_py_ Represents y-coordinate values for a corresponding anchor
+  * @param[in] anchors_pz_ Represents z-coordinate values for a corresponding anchor
+  * @param[in] anchors_dx_ Represents x-dimension values for a corresponding anchor
+  * @param[in] anchors_dy_ Represents y-dimension values for a corresponding anchor
+  * @param[in] anchors_dz_ Represents z-dimension values for a corresponding anchor
+  * @param[in] anchors_ro_ Represents rotation values for a corresponding anchor
+  * @details Generate anchors for each grid
+  */
+  void generateAnchors(float* anchors_px_, float* anchors_py_, float* anchors_pz_, float* anchors_dx_,
+                       float* anchors_dy_, float* anchors_dz_, float* anchors_ro_);
+
+  /**
+  * @brief Convert ONNX to TensorRT model
+  * @param[in] model_file ONNX model file path
+  * @param[out] trt_model_stream TensorRT model made out of ONNX model
+  * @details Load ONNX model, and convert it to TensorRT model
+  */
+  void onnxToTRTModel(const std::string& model_file, nvinfer1::IHostMemory*& trt_model_stream);
+
+  /**
+  * @brief Preproces points
+  * @param[in] in_points_array pointcloud array
+  * @param[in] in_num_points Number of points
+  * @details Call CPU or GPU preprocess
+  */
+  void preprocess(const float* in_points_array, const int in_num_points);
+
+  /**
+  * @brief Preproces by CPU
+  * @param[in] in_points_array pointcloud array
+  * @param[in] in_num_points Number of points
+  * @details The output from preprocessCPU is reproducible, while preprocessGPU is not
+  */
+  void preprocessCPU(const float* in_points_array, const int in_num_points);
+
+  /**
+  * @brief Preproces by GPU
+  * @param[in] in_points_array pointcloud array
+  * @param[in] in_num_points Number of points
+  * @details Faster preprocess comapared with CPU preprocess
+  */
+  void preprocessGPU(const float* in_points_array, const int in_num_points);
+
+  /**
+  * @brief Convert anchors to box form like min_x, min_y, max_x, max_y anchors
+  * @param[in] anchors_px_ Represents x-coordinate value for a corresponding anchor
+  * @param[in] anchors_py_ Represents y-coordinate value for a corresponding anchor
+  * @param[in] anchors_dx_ Represents x-dimension value for a corresponding anchor
+  * @param[in] anchors_dy_ Represents y-dimension value for a corresponding anchor
+  * @param[in] box_anchors_min_x_ Represents minimum x value for a correspomding anchor
+  * @param[in] box_anchors_min_y_ Represents minimum y value for a correspomding anchor
+  * @param[in] box_anchors_max_x_ Represents maximum x value for a correspomding anchor
+  * @param[in] box_anchors_max_y_ Represents maximum y value for a correspomding anchor
+  * @details Make box anchors for nms
+  */
+  void convertAnchors2BoxAnchors(float* anchors_px_, float* anchors_py_, float* anchors_dx_, float* anchors_dy_,
+                                 float* box_anchors_min_x_, float* box_anchors_min_y_, float* box_anchors_max_x_,
+                                 float* box_anchors_max_y_);
+
+  /**
+  * @brief Memory allocation for anchors
+  * @details Memory allocation for anchors
+  */
+  void putAnchorsInDeviceMemory();
+
+public:
+  /**
+  * @brief Constructor
+  * @param[in] reproduce_result_mode Boolean, if true, the output is reproducible for the same input
+  * @param[in] score_threshold Score threshold for filtering output
+  * @param[in] nms_overlap_threshold IOU threshold for NMS
+  * @param[in] pfe_onnx_file Pillar Feature Extractor ONNX file path
+  * @param[in] rpn_onnx_file Region Proposal Network ONNX file path
+  * @details Variables could be chaned through rosparam
+  */
+  PointPillars(const bool reproduce_result_mode, const float score_threshold, const float nms_overlap_threshold,
+               const std::string pfe_onnx_file, const std::string rpn_onnx_file);
+  ~PointPillars();
+
+  /**
+  * @brief Call PointPillars for the inference
+  * @param[in] in_points_array Pointcloud array
+  * @param[in] in_num_points Number of points
+  * @param[in] out_detections Network output bounding box
+  * @details This is an interface for the algorithm
+  */
+  void doInference(const float* in_points_array, const int in_num_points, std::vector<float>& out_detections);
+};
+
+#endif  // POINTS_PILLAR_H
diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/point_pillars_ros.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/point_pillars_ros.h
new file mode 100644
index 00000000000..7484b10c36c
--- /dev/null
+++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/point_pillars_ros.h
@@ -0,0 +1,137 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+* @file point_pillars_ros.h
+* @brief ROS interface for PointPillars
+* @author Kosuke Murakami
+* @date 2019/02/26
+*/
+
+#ifndef POINTS_PILLAR_ROS_H
+#define POINTS_PILLAR_ROS_H
+
+// headers in STL
+#include <memory>
+#include <vector>
+
+// headers in ROS
+#include <ros/ros.h>
+#include <sensor_msgs/PointCloud2.h>
+#include <tf/transform_listener.h>
+
+// headers in PCL
+#include <pcl/io/pcd_io.h>
+
+// headers in local files
+#include "lidar_point_pillars/point_pillars.h"
+
+class PointPillarsROS
+{
+private:
+  friend class TestClass;
+
+  // initializer list
+  ros::NodeHandle private_nh_;
+  bool has_subscribed_baselink_;
+  const int NUM_POINT_FEATURE_;
+  const int OUTPUT_NUM_BOX_FEATURE_;
+  const float TRAINED_SENSOR_HEIGHT_;
+  const float NORMALIZING_INTENSITY_VALUE_;
+  const std::string BASELINK_FRAME_;
+  // end initializer list
+
+  // rosparam
+  bool baselink_support_;
+  bool reproduce_result_mode_;
+  float score_threshold_;
+  float nms_overlap_threshold_;
+  std::string pfe_onnx_file_;
+  std::string rpn_onnx_file_;
+  // end rosparam
+
+  ros::NodeHandle nh_;
+  ros::Subscriber sub_points_;
+  ros::Publisher pub_objects_;
+
+  tf::TransformListener tf_listener_;
+  tf::StampedTransform baselink2lidar_;
+  tf::Transform angle_transform_;
+  tf::Transform angle_transform_inversed_;
+
+  float offset_z_from_trained_data_;
+
+  std::unique_ptr<PointPillars> point_pillars_ptr_;
+
+  /**
+  * @brief Get base_link to lidar transformation
+  * @param[in] target_frameid Name of lidar frame_id to be targeted
+  * @details Get transformation info
+  */
+  void getBaselinkToLidarTF(const std::string& target_frameid);
+
+  /**
+  * @brief Analyze tf information
+  * @param[in] lidar2baselink transofomation info
+  * @details Calculate z offset compared with trained sensor height and get rotation matrix
+  */
+  void analyzeTFInfo(tf::StampedTransform lidar2baselink);
+
+  /**
+  * @brief Transform pose based on tf stamp info
+  * @param[in] in_pose Target pose to be transformed
+  * @param[in] tf TF stamp contains rotation matrix and translation matrix
+  * @return geometry_msgs::Pose Transformed pose
+  * @details Calculate transformed pose
+  */
+  geometry_msgs::Pose getTransformedPose(const geometry_msgs::Pose& in_pose, const tf::Transform& tf);
+
+  /**
+  * @brief callback for pointcloud
+  * @param[in] input pointcloud from lidar sensor
+  * @details Call point_pillars to get 3D bounding box
+  */
+  void pointsCallback(const sensor_msgs::PointCloud2::ConstPtr& input);
+
+  /**
+  * @brief convert pcl point to c++ array
+  * @param[in] in_pcl_pc_ptr pointcloud in pcl format
+  * @param[out] out_points_array converted pointcloud in c++ array format
+  * @param[in] offset_z (default: 1.0) when using baselink_support, offset height based on current sensor configuration
+  * @details convert pcl points to c++ array, plus offset z if it is necessary
+  */
+  void pclToArray(const pcl::PointCloud<pcl::PointXYZI>::Ptr& in_pcl_pc_ptr, float* out_points_array,
+                  const float offset_z = 0);
+
+  /**
+  * @brief publish DetectedObject
+  * @param[in] detections Network output bounding box
+  * @param[in] in_header Header from pointcloud
+  * @details Convert std::vector to DetectedObject, and publish them
+  */
+  void pubDetectedObject(const std::vector<float>& detections, const std_msgs::Header& in_header);
+
+public:
+  PointPillarsROS();
+
+  /**
+  * @brief Create ROS pub/sub obejct
+  * @details Create/Initializing ros pub/sub object
+  */
+  void createROSPubSub();
+};
+
+#endif  // POINTS_PILLAR_ROS_H
diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/postprocess_cuda.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/postprocess_cuda.h
new file mode 100644
index 00000000000..61f2985562f
--- /dev/null
+++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/postprocess_cuda.h
@@ -0,0 +1,99 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+* @file postprocess_cuda.h
+* @brief Postprocess for network output
+* @author Kosuke Murakami
+* @date 2019/02/26
+*/
+
+#ifndef POSTPROCESS_CUDA_H
+#define POSTPROCESS_CUDA_H
+
+// headers in STL
+#include <memory>
+#include <iostream>
+
+// headers in local files
+#include "lidar_point_pillars/nms_cuda.h"
+
+class PostprocessCuda
+{
+private:
+  const float FLOAT_MIN_;
+  const float FLOAT_MAX_;
+  const int NUM_ANCHOR_X_INDS_;
+  const int NUM_ANCHOR_Y_INDS_;
+  const int NUM_ANCHOR_R_INDS_;
+  const float score_threshold_;
+  const int NUM_THREADS_;
+  const float nms_overlap_threshold_;
+  const int NUM_BOX_CORNERS_;
+  const int NUM_OUTPUT_BOX_FEATURE_;
+
+  std::unique_ptr<NMSCuda> nms_cuda_ptr_;
+
+public:
+  /**
+  * @brief Constructor
+  * @param[in] FLOAT_MIN The lowest float value
+  * @param[in] FLOAT_MAX The maximum float value
+  * @param[in] NUM_ANCHOR_X_INDS Number of x-indexes for anchors
+  * @param[in] NUM_ANCHOR_Y_INDS Number of y-indexes for anchors
+  * @param[in] NUM_ANCHOR_R_INDS Number of rotation-indexes for anchors
+  * @param[in] score_threshold Score threshold for filtering output
+  * @param[in] NUM_THREADS Number of threads when launching cuda kernel
+  * @param[in] nms_overlap_threshold IOU threshold for NMS
+  * @param[in] NUM_BOX_CORNERS Number of box's corner
+  * @param[in] NUM_OUTPUT_BOX_FEATURE Number of output box's feature
+  * @details Captital variables never change after the compile, non-capital variables could be changed through rosparam
+  */
+  PostprocessCuda(const float FLOAT_MIN, const float FLOAT_MAX, const int NUM_ANCHOR_X_INDS,
+                  const int NUM_ANCHOR_Y_INDS, const int NUM_ANCHOR_R_INDS, const float score_threshold,
+                  const int NUM_THREADS, const float nms_overlap_threshold, const int NUM_BOX_CORNERS,
+                  const int NUM_OUTPUT_BOX_FEATURE);
+
+  /**
+  * @brief Postprocessing for the network output
+  * @param[in] rpn_box_output Box predictions from the network output
+  * @param[in] rpn_cls_output Class predictions from the network output
+  * @param[in] rpn_dir_output Direction predictions from the network output
+  * @param[in] dev_anchor_mask Anchor mask for filtering the network output
+  * @param[in] dev_anchors_px X-coordinate values for corresponding anchors
+  * @param[in] dev_anchors_py Y-coordinate values for corresponding anchors
+  * @param[in] dev_anchors_pz Z-coordinate values for corresponding anchors
+  * @param[in] dev_anchors_dx X-dimension values for corresponding anchors
+  * @param[in] dev_anchors_dy Y-dimension values for corresponding anchors
+  * @param[in] dev_anchors_dz Z-dimension values for corresponding anchors
+  * @param[in] dev_anchors_ro Rotation values for corresponding anchors
+  * @param[in] dev_filtered_box Filtered box predictions
+  * @param[in] dev_filtered_score Filtered score predictions
+  * @param[in] dev_filtered_dir Filtered direction predictions
+  * @param[in] dev_box_for_nms Decoded boxes in min_x min_y max_x max_y represenation from pose and dimension
+  * @param[in] dev_filter_count The number of filtered output
+  * @param[out] out_detection Output bounding boxes
+  * @details dev_* represents device memory allocated variables
+  */
+  void doPostprocessCuda(const float* rpn_box_output, const float* rpn_cls_output, const float* rpn_dir_output,
+                         int* dev_anchor_mask, const float* dev_anchors_px, const float* dev_anchors_py,
+                         const float* dev_anchors_pz, const float* dev_anchors_dx, const float* dev_anchors_dy,
+                         const float* dev_anchors_dz, const float* dev_anchors_ro, float* dev_filtered_box,
+                         float* dev_filtered_score, int* dev_filtered_dir, float* dev_box_for_nms,
+                         int* dev_filter_count, std::vector<float>& out_detection);
+};
+
+#endif  // POSTPROCESS_CUDA_H
diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/preprocess_points.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/preprocess_points.h
new file mode 100644
index 00000000000..b09aea1e42e
--- /dev/null
+++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/preprocess_points.h
@@ -0,0 +1,108 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+* @file preprocess_points.h
+* @brief CPU version of preprocess points
+* @author Kosuke Murakami
+* @date 2019/02/26
+*/
+
+#ifndef PREPROCESS_POINTS_H
+#define PREPROCESS_POINTS_H
+
+class PreprocessPoints
+{
+private:
+  friend class TestClass;
+  const int MAX_NUM_PILLARS_;
+  const int MAX_NUM_POINTS_PER_PILLAR_;
+  const int GRID_X_SIZE_;
+  const int GRID_Y_SIZE_;
+  const int GRID_Z_SIZE_;
+  const float PILLAR_X_SIZE_;
+  const float PILLAR_Y_SIZE_;
+  const float PILLAR_Z_SIZE_;
+  const float MIN_X_RANGE_;
+  const float MIN_Y_RANGE_;
+  const float MIN_Z_RANGE_;
+  const int NUM_INDS_FOR_SCAN_;
+  const int NUM_BOX_CORNERS_;
+
+public:
+  /**
+  * @brief Constructor
+  * @param[in] MAX_NUM_PILLARS Maximum number of pillars
+  * @param[in] MAX_POINTS_PER_PILLAR Maximum number of points per pillar
+  * @param[in] GRID_X_SIZE Number of pillars in x-coordinate
+  * @param[in] GRID_Y_SIZE Number of pillars in y-coordinate
+  * @param[in] GRID_Z_SIZE Number of pillars in z-coordinate
+  * @param[in] PILLAR_X_SIZE Size of x-dimension for a pillar
+  * @param[in] PILLAR_Y_SIZE Size of y-dimension for a pillar
+  * @param[in] PILLAR_Z_SIZE Size of z-dimension for a pillar
+  * @param[in] MIN_X_RANGE Minimum x value for pointcloud
+  * @param[in] MIN_Y_RANGE Minimum y value for pointcloud
+  * @param[in] MIN_Z_RANGE Minimum z value for pointcloud
+  * @param[in] NUM_INDS_FOR_SCAN Number of indexes for scan(cumsum)
+  * @param[in] NUM_BOX_CORNERS Number of box's corner
+  * @details Captital variables never change after the compile
+  */
+  PreprocessPoints(const int MAX_NUM_PILLARS, const int MAX_POINTS_PER_PILLAR, const int GRID_X_SIZE,
+                   const int GRID_Y_SIZE, const int GRID_Z_SIZE, const float PILLAR_X_SIZE, const float PILLAR_Y_SIZE,
+                   const float PILLAR_Z_SIZE, const float MIN_X_RANGE, const float MIN_Y_RANGE, const float MIN_Z_RANGE,
+                   const int NUM_INDS_FOR_SCAN, const int NUM_BOX_CORNERS);
+
+  /**
+  * @brief CPU preprocessing for input pointcloud
+  * @param[in] in_points_array Pointcloud array
+  * @param[in] in_num_points The number of points
+  * @param[in] x_coors X-coordinate indexes for corresponding pillars
+  * @param[in] y_coors Y-coordinate indexes for corresponding pillars
+  * @param[in] num_points_per_pillar Number of points in corresponding pillars
+  * @param[in] pillar_x X-coordinate values for points in each pillar
+  * @param[in] pillar_y Y-coordinate values for points in each pillar
+  * @param[in] pillar_z Z-coordinate values for points in each pillar
+  * @param[in] pillar_i Intensity values for points in each pillar
+  * @param[in] x_coors_for_sub_shaped Array for x substraction in the network
+  * @param[in] y_coors_for_sub_shaped Array for y substraction in the network
+  * @param[in] pillar_feature_mask Mask to make pillars' feature zero where no points in the pillars
+  * @param[in] sparse_pillar_map Grid map representation for pillar-occupancy
+  * @param[in] host_pillar_count The numnber of valid pillars for the input pointcloud
+  * @details Convert pointcloud to pillar representation
+  */
+  void preprocess(const float* in_points_array, int in_num_points, int* x_coors, int* y_coors,
+                  float* num_points_per_pillar, float* pillar_x, float* pillar_y, float* pillar_z, float* pillar_i,
+                  float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped, float* pillar_feature_mask,
+                  float* sparse_pillar_map, int* host_pillar_count);
+
+  /**
+  * @brief Initializing variables for preprocessing
+  * @param[in] coor_to_pillaridx Map for converting one set of coordinate to a pillar
+  * @param[in] sparse_pillar_map Grid map representation for pillar-occupancy
+  * @param[in] pillar_x X-coordinate values for points in each pillar
+  * @param[in] pillar_y Y-coordinate values for points in each pillar
+  * @param[in] pillar_z Z-coordinate values for points in each pillar
+  * @param[in] pillar_i Intensity values for points in each pillar
+  * @param[in] x_coors_for_sub_shaped Array for x substraction in the network
+  * @param[in] y_coors_for_sub_shaped Array for y substraction in the network
+  * @details Initializeing input arguments with certain values
+  */
+  void initializeVariables(int* coor_to_pillaridx, float* sparse_pillar_map, float* pillar_x, float* pillar_y,
+                           float* pillar_z, float* pillar_i, float* x_coors_for_sub_shaped,
+                           float* y_coors_for_sub_shaped);
+};
+
+#endif  // PREPROCESS_POINTS_H
diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/preprocess_points_cuda.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/preprocess_points_cuda.h
new file mode 100644
index 00000000000..67df868e3f9
--- /dev/null
+++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/preprocess_points_cuda.h
@@ -0,0 +1,108 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+* @file preprocess_points_cuda.h
+* @brief GPU version of preprocess points
+* @author Kosuke Murakami
+* @date 2019/02/26
+*/
+
+#ifndef PREPROCESS_POINTS_CUDA_H
+#define PREPROCESS_POINTS_CUDA_H
+
+class PreprocessPointsCuda
+{
+private:
+  // initialzer list
+  const int NUM_THREADS_;
+  const int MAX_NUM_PILLARS_;
+  const int MAX_NUM_POINTS_PER_PILLAR_;
+  const int NUM_INDS_FOR_SCAN_;
+  const int GRID_X_SIZE_;
+  const int GRID_Y_SIZE_;
+  const int GRID_Z_SIZE_;
+  const float PILLAR_X_SIZE_;
+  const float PILLAR_Y_SIZE_;
+  const float PILLAR_Z_SIZE_;
+  const float MIN_X_RANGE_;
+  const float MIN_Y_RANGE_;
+  const float MIN_Z_RANGE_;
+  const int NUM_BOX_CORNERS_;
+  // end initalizer list
+
+  float* dev_pillar_x_in_coors_;
+  float* dev_pillar_y_in_coors_;
+  float* dev_pillar_z_in_coors_;
+  float* dev_pillar_i_in_coors_;
+  int* dev_pillar_count_histo_;
+
+  int* dev_counter_;
+  int* dev_pillar_count_;
+  float* dev_x_coors_for_sub_;
+  float* dev_y_coors_for_sub_;
+
+public:
+  /**
+  * @brief Constructor
+  * @param[in] NUM_THREADS Number of threads when launching cuda kernel
+  * @param[in] MAX_NUM_PILLARS Maximum number of pillars
+  * @param[in] MAX_POINTS_PER_PILLAR Maximum number of points per pillar
+  * @param[in] NUM_INDS_FOR_SCAN Number of indexes for scan(cumsum)
+  * @param[in] GRID_X_SIZE Number of pillars in x-coordinate
+  * @param[in] GRID_Y_SIZE Number of pillars in y-coordinate
+  * @param[in] GRID_Z_SIZE Number of pillars in z-coordinate
+  * @param[in] PILLAR_X_SIZE Size of x-dimension for a pillar
+  * @param[in] PILLAR_Y_SIZE Size of y-dimension for a pillar
+  * @param[in] PILLAR_Z_SIZE Size of z-dimension for a pillar
+  * @param[in] MIN_X_RANGE Minimum x value for pointcloud
+  * @param[in] MIN_Y_RANGE Minimum y value for pointcloud
+  * @param[in] MIN_Z_RANGE Minimum z value for pointcloud
+  * @param[in] NUM_BOX_CORNERS Number of corners for 2D box
+  * @details Captital variables never change after the compile
+  */
+  PreprocessPointsCuda(const int NUM_THREADS, const int MAX_NUM_PILLARS, const int MAX_POINTS_PER_PILLAR,
+                       const int NUM_INDS_FOR_SCAN, const int GRID_X_SIZE, const int GRID_Y_SIZE, const int GRID_Z_SIZE,
+                       const float PILLAR_X_SIZE, const float PILLAR_Y_SIZE, const float PILLAR_Z_SIZE,
+                       const float MIN_X_RANGE, const float MIN_Y_RANGE, const float MIN_Z_RANGE, const int NUM_BOX_CORNERS);
+  ~PreprocessPointsCuda();
+
+  /**
+  * @brief CUDA preprocessing for input pointcloud
+  * @param[in] dev_points Pointcloud array
+  * @param[in] in_num_points The number of points
+  * @param[in] dev_x_coors X-coordinate indexes for corresponding pillars
+  * @param[in] dev_y_coors Y-coordinate indexes for corresponding pillars
+  * @param[in] dev_num_points_per_pillar Number of points in corresponding pillars
+  * @param[in] dev_pillar_x X-coordinate values for points in each pillar
+  * @param[in] dev_pillar_y Y-coordinate values for points in each pillar
+  * @param[in] dev_pillar_z Z-coordinate values for points in each pillar
+  * @param[in] dev_pillar_i Intensity values for points in each pillar
+  * @param[in] dev_x_coors_for_sub_shaped Array for x substraction in the network
+  * @param[in] dev_y_coors_for_sub_shaped Array for y substraction in the network
+  * @param[in] dev_pillar_feature_mask Mask to make pillars' feature zero where no points in the pillars
+  * @param[in] dev_sparse_pillar_map Grid map representation for pillar-occupancy
+  * @param[in] host_pillar_count The numnber of valid pillars for an input pointcloud
+  * @details Convert pointcloud to pillar representation
+  */
+  void doPreprocessPointsCuda(const float* dev_points, const int in_num_points, int* dev_x_coors, int* dev_y_coors,
+                              float* dev_num_points_per_pillar, float* dev_pillar_x, float* dev_pillar_y,
+                              float* dev_pillar_z, float* dev_pillar_i, float* dev_x_coors_for_sub_shaped,
+                              float* dev_y_coors_for_sub_shaped, float* dev_pillar_feature_mask,
+                              int* dev_sparse_pillar_map, int* host_pillar_count);
+};
+
+#endif  // PREPROCESS_POINTS_CUDA_H
diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/scatter_cuda.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/scatter_cuda.h
new file mode 100644
index 00000000000..1c955a3a65d
--- /dev/null
+++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/lidar_point_pillars/scatter_cuda.h
@@ -0,0 +1,58 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+* @file scatter_cuda.h
+* @brief CUDA code for scatter operation
+* @author Kosuke Murakami
+* @date 2019/02/26
+*/
+
+#ifndef SCATTERCUDA_H
+#define SCATTERCUDA_H
+
+class ScatterCuda
+{
+private:
+  const int NUM_THREADS_;
+  const int MAX_NUM_PILLARS_;
+  const int GRID_X_SIZE_;
+  const int GRID_Y_SIZE_;
+
+public:
+  /**
+  * @brief Constructor
+  * @param[in] NUM_THREADS The number of threads to launch cuda kernel
+  * @param[in] MAX_NUM_PILLARS Maximum number of pillars
+  * @param[in] GRID_X_SIZE Number of pillars in x-coordinate
+  * @param[in] GRID_Y_SIZE Number of pillars in y-coordinate
+  * @details Captital variables never change after the compile
+  */
+  ScatterCuda(const int NUM_THREADS, const int MAX_NUM_PILLARS, const int GRID_X_SIZE, const int GRID_Y_SIZE);
+
+  /**
+  * @brief Call scatter cuda kernel
+  * @param[in] pillar_count The valid number of pillars
+  * @param[in] x_coors X-coordinate indexes for corresponding pillars
+  * @param[in] y_coors Y-coordinate indexes for corresponding pillars
+  * @param[in] pfe_output Output from Pillar Feature Extractor
+  * @param[out] scattered_feature Gridmap representation for pillars' feature
+  * @details Allocate pillars in gridmap based on index(coordinates) information
+  */
+  void doScatterCuda(const int pillar_count, int* x_coors, int* y_coors, float* pfe_output, float* scattered_feature);
+};
+
+#endif  // SCATTERCUDA_H
diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/launch/lidar_point_pillars.launch b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/launch/lidar_point_pillars.launch
new file mode 100755
index 00000000000..9bf500fc6e8
--- /dev/null
+++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/launch/lidar_point_pillars.launch
@@ -0,0 +1,24 @@
+<launch>
+  <arg name="input_topic" default="/points_raw" />
+  <arg name="baselink_support" default="true" />
+  <arg name="reproduce_result_mode" default="true" />
+  <arg name="score_threshold" default="0.5" />
+  <arg name="nms_overlap_threshold" default="0.5" />
+  <arg name="pfe_onnx_file"/>
+  <arg name="rpn_onnx_file"/>
+  <node pkg="lidar_point_pillars" type="lidar_point_pillars"
+    name="lidar_point_pillars" output="screen" >
+    <remap from="/points_raw" to="$(arg input_topic)"/>
+
+    <param name="baselink_support"            value="$(arg baselink_support)" />
+    <param name="reproduce_result_mode"        value="$(arg reproduce_result_mode)" />
+    <param name="score_threshold"   value="$(arg score_threshold)" />
+    <param name="nms_overlap_threshold"         value="$(arg nms_overlap_threshold)" />
+    <param name="pfe_onnx_file"   value="$(arg pfe_onnx_file)" />
+    <param name="rpn_onnx_file"   value="$(arg rpn_onnx_file)" />
+  </node>
+
+  <node pkg="detected_objects_visualizer" type="visualize_detected_objects" name="point_pillars_visualization_01"
+        output="screen" ns="/detection/lidar_detector" />
+
+</launch>
diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/anchor_mask_cuda.cu b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/anchor_mask_cuda.cu
new file mode 100644
index 00000000000..6b58021cbc4
--- /dev/null
+++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/anchor_mask_cuda.cu
@@ -0,0 +1,205 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+//headers in local files
+#include "lidar_point_pillars/common.h"
+#include "lidar_point_pillars/anchor_mask_cuda.h"
+
+//modified prefix sum code from https://www.mimuw.edu.pl/~ps209291/kgkp/slides/scan.pdf
+__global__ void scan_x(int *g_odata, int *g_idata, int n)
+{
+  extern __shared__ int temp[];  // allocated on invocation
+  int thid = threadIdx.x;
+  int bid = blockIdx.x;
+  int bdim = blockDim.x;
+  int offset = 1;
+  temp[2*thid]   = g_idata[bid*bdim*2 + 2*thid]; // load input into shared memory
+  temp[2*thid+1] = g_idata[bid*bdim*2 + 2*thid+1];
+  for (int d = n>>1; d > 0; d >>= 1)                    // build sum in place up the tree
+  {
+    __syncthreads();
+    if (thid < d)
+    {
+      int ai = offset*(2*thid+1)-1;
+      int bi = offset*(2*thid+2)-1;
+      temp[bi] += temp[ai];
+    }
+    offset *= 2;
+  }
+  if (thid == 0) { temp[n - 1] = 0; } // clear the last element
+  for (int d = 1; d < n; d *= 2) // traverse down tree & build scan
+    {
+      offset >>= 1;
+      __syncthreads();
+      if (thid < d)
+      {
+         int ai = offset*(2*thid+1)-1;
+         int bi = offset*(2*thid+2)-1;
+         int t = temp[ai];
+         temp[ai] = temp[bi];
+         temp[bi] += t;
+      }
+    }
+  __syncthreads();
+  g_odata[bid*bdim*2 + 2*thid] = temp[2*thid+1]; // write results to device memory
+  int second_ind = 2*thid+2;
+  if(second_ind == bdim*2 )
+  {
+    g_odata[bid*bdim*2 + 2*thid+1] = temp[2*thid+1] + g_idata[bid*bdim*2 + 2*thid+1];
+  }
+  else
+  {
+    g_odata[bid*bdim*2 + 2*thid+1] = temp[2*thid+2];
+  }
+}
+
+//modified prefix sum code from https://www.mimuw.edu.pl/~ps209291/kgkp/slides/scan.pdf
+__global__ void scan_y(int *g_odata, int *g_idata, int n)
+{
+  extern __shared__ int temp[];  // allocated on invocation
+  int thid = threadIdx.x;
+  int bid = blockIdx.x;
+  int bdim = blockDim.x;
+  int gdim = gridDim.x;
+  int offset = 1;
+  temp[2*thid]   = g_idata[bid + 2*thid*gdim]; // load input into shared memory
+  temp[2*thid+1] = g_idata[bid + 2*thid*gdim+ gdim];
+  for (int d = n>>1; d > 0; d >>= 1)                    // build sum in place up the tree
+  {
+    __syncthreads();
+    if (thid < d)
+    {
+      int ai = offset*(2*thid+1)-1;
+      int bi = offset*(2*thid+2)-1;
+      temp[bi] += temp[ai];
+    }
+    offset *= 2;
+  }
+  if (thid == 0) { temp[n - 1] = 0; } // clear the last element
+  for (int d = 1; d < n; d *= 2) // traverse down tree & build scan
+    {
+      offset >>= 1;
+      __syncthreads();
+      if (thid < d)
+      {
+         int ai = offset*(2*thid+1)-1;
+         int bi = offset*(2*thid+2)-1;
+         int t = temp[ai];
+         temp[ai] = temp[bi];
+         temp[bi] += t;
+      }
+    }
+  __syncthreads();
+  g_odata[bid + 2*thid*gdim] = temp[2*thid+1]; // write results to device memory
+  int second_ind = 2*thid+2;
+  if(second_ind == bdim*2 )
+  {
+    g_odata[bid + 2*thid*gdim + gdim] = temp[2*thid+1] + g_idata[bid + 2*thid*gdim + gdim];
+  }
+  else
+  {
+    g_odata[bid + 2*thid*gdim + gdim] = temp[2*thid+2];
+  }
+}
+
+__global__ void make_anchor_mask_kernel(const float* dev_box_anchors_min_x, const float* dev_box_anchors_min_y,
+                                        const float* dev_box_anchors_max_x, const float* dev_box_anchors_max_y,
+                                        int* dev_sparse_pillar_map, int* dev_anchor_mask,
+                                        const float MIN_X_RANGE,
+                                        const float MIN_Y_RANGE,
+                                        const float PILLAR_X_SIZE,
+                                        const float PILLAR_Y_SIZE,
+                                        const int GRID_X_SIZE,
+                                        const int GRID_Y_SIZE,
+                                        const int NUM_INDS_FOR_SCAN)
+{
+  int tid = threadIdx.x + blockIdx.x * blockDim.x;
+  int anchor_coor[NUM_2D_BOX_CORNERS_MACRO] = {0};
+  const int GRID_X_SIZE_1 = GRID_X_SIZE - 1;//grid_x_size - 1
+  const int GRID_Y_SIZE_1 = GRID_Y_SIZE - 1;//grid_y_size - 1
+
+  anchor_coor[0] = floor((dev_box_anchors_min_x[tid] - MIN_X_RANGE) / PILLAR_X_SIZE);
+  anchor_coor[1] = floor((dev_box_anchors_min_y[tid] - MIN_Y_RANGE) / PILLAR_Y_SIZE);
+  anchor_coor[2] = floor((dev_box_anchors_max_x[tid] - MIN_X_RANGE) / PILLAR_X_SIZE);
+  anchor_coor[3] = floor((dev_box_anchors_max_y[tid] - MIN_Y_RANGE) / PILLAR_Y_SIZE);
+  anchor_coor[0] = max(anchor_coor[0], 0);
+  anchor_coor[1] = max(anchor_coor[1], 0);
+  anchor_coor[2] = min(anchor_coor[2], GRID_X_SIZE_1);
+  anchor_coor[3] = min(anchor_coor[3], GRID_Y_SIZE_1);
+
+  int right_top    = dev_sparse_pillar_map[anchor_coor[3]*NUM_INDS_FOR_SCAN + anchor_coor[2]];
+  int left_bottom  = dev_sparse_pillar_map[anchor_coor[1]*NUM_INDS_FOR_SCAN + anchor_coor[0]];
+  int left_top     = dev_sparse_pillar_map[anchor_coor[3]*NUM_INDS_FOR_SCAN + anchor_coor[0]];
+  int right_bottom = dev_sparse_pillar_map[anchor_coor[1]*NUM_INDS_FOR_SCAN + anchor_coor[2]];
+
+  int area = right_top -left_top - right_bottom + left_bottom;
+  if(area > 1)
+  {
+    dev_anchor_mask[tid] = 1;
+  }
+  else
+  {
+    dev_anchor_mask[tid] = 0;
+  }
+}
+
+
+AnchorMaskCuda::AnchorMaskCuda(const int NUM_INDS_FOR_SCAN,
+                               const int NUM_ANCHOR_X_INDS,
+                               const int NUM_ANCHOR_Y_INDS,
+                               const int NUM_ANCHOR_R_INDS,
+                               const float MIN_X_RANGE,
+                               const float MIN_Y_RANGE,
+                               const float PILLAR_X_SIZE,
+                               const float PILLAR_Y_SIZE,
+                               const int GRID_X_SIZE,
+                               const int GRID_Y_SIZE):
+NUM_INDS_FOR_SCAN_(NUM_INDS_FOR_SCAN),
+NUM_ANCHOR_X_INDS_(NUM_ANCHOR_X_INDS),
+NUM_ANCHOR_Y_INDS_(NUM_ANCHOR_Y_INDS),
+NUM_ANCHOR_R_INDS_(NUM_ANCHOR_R_INDS),
+MIN_X_RANGE_(MIN_X_RANGE),
+MIN_Y_RANGE_(MIN_Y_RANGE),
+PILLAR_X_SIZE_(PILLAR_X_SIZE),
+PILLAR_Y_SIZE_(PILLAR_Y_SIZE),
+GRID_X_SIZE_(GRID_X_SIZE),
+GRID_Y_SIZE_(GRID_Y_SIZE)
+{
+
+}
+
+void AnchorMaskCuda::doAnchorMaskCuda(int* dev_sparse_pillar_map, int* dev_cumsum_along_x, int* dev_cumsum_along_y,
+  const float* dev_box_anchors_min_x, const float* dev_box_anchors_min_y,
+  const float* dev_box_anchors_max_x, const float* dev_box_anchors_max_y, int* dev_anchor_mask)
+{
+  scan_x<<<NUM_INDS_FOR_SCAN_, NUM_INDS_FOR_SCAN_/2, NUM_INDS_FOR_SCAN_*sizeof(int)>>>(dev_cumsum_along_x, dev_sparse_pillar_map, NUM_INDS_FOR_SCAN_);
+  scan_y<<<NUM_INDS_FOR_SCAN_, NUM_INDS_FOR_SCAN_/2, NUM_INDS_FOR_SCAN_*sizeof(int)>>>(dev_cumsum_along_y, dev_cumsum_along_x,    NUM_INDS_FOR_SCAN_);
+  GPU_CHECK(cudaMemcpy(dev_sparse_pillar_map, dev_cumsum_along_y,  NUM_INDS_FOR_SCAN_*NUM_INDS_FOR_SCAN_*sizeof(int), cudaMemcpyDeviceToDevice ) );
+  make_anchor_mask_kernel<<<NUM_ANCHOR_X_INDS_*NUM_ANCHOR_R_INDS_, NUM_ANCHOR_Y_INDS_>>>(
+                                          dev_box_anchors_min_x,
+                                          dev_box_anchors_min_y,
+                                          dev_box_anchors_max_x,
+                                          dev_box_anchors_max_y,
+                                          dev_sparse_pillar_map,
+                                          dev_anchor_mask,
+                                          MIN_X_RANGE_,
+                                          MIN_Y_RANGE_,
+                                          PILLAR_X_SIZE_,
+                                          PILLAR_Y_SIZE_,
+                                          GRID_X_SIZE_,
+                                          GRID_Y_SIZE_,
+                                          NUM_INDS_FOR_SCAN_);
+}
diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/lidar_point_pillars_node.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/lidar_point_pillars_node.cpp
new file mode 100644
index 00000000000..001933b8197
--- /dev/null
+++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/lidar_point_pillars_node.cpp
@@ -0,0 +1,31 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+// headers in STL
+#include <iostream>
+
+// headers in local files
+#include "lidar_point_pillars/point_pillars_ros.h"
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "lidar_point_pillars");
+  PointPillarsROS app;
+  app.createROSPubSub();
+  ros::spin();
+
+  return 0;
+}
diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/nms_cuda.cu b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/nms_cuda.cu
new file mode 100644
index 00000000000..4bb01ecac3d
--- /dev/null
+++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/nms_cuda.cu
@@ -0,0 +1,112 @@
+// ------------------------------------------------------------------
+// Copyright (c) 2015 Microsoft
+// Licensed under The MIT License
+// Modified from MATLAB Faster R-CNN (https://github.com/shaoqingren/faster_rcnn)
+// ------------------------------------------------------------------
+
+
+//headers in local files
+#include "lidar_point_pillars/nms_cuda.h"
+
+
+__device__ inline float devIoU(float const *const a, float const *const b)
+{
+  float left = max(a[0], b[0]), right = min(a[2], b[2]);
+  float top = max(a[1], b[1]), bottom = min(a[3], b[3]);
+  float width = max(right - left + 1, 0.f), height = max(bottom - top + 1, 0.f);
+  float interS = width * height;
+  float Sa = (a[2] - a[0] + 1) * (a[3] - a[1] + 1);
+  float Sb = (b[2] - b[0] + 1) * (b[3] - b[1] + 1);
+  return interS / (Sa + Sb - interS);
+}
+
+__global__ void nms_kernel(const int n_boxes, const float nms_overlap_thresh,
+                           const float *dev_boxes, unsigned long long *dev_mask,
+                           const int NUM_BOX_CORNERS)
+{
+  const int row_start = blockIdx.y;
+  const int col_start = blockIdx.x;
+
+  const int block_threads = blockDim.x;
+
+  const int row_size =
+      min(n_boxes - row_start * block_threads, block_threads);
+  const int col_size =
+      min(n_boxes - col_start * block_threads, block_threads);
+
+  __shared__ float block_boxes[NUM_THREADS_MACRO * NUM_2D_BOX_CORNERS_MACRO];
+  if (threadIdx.x < col_size)
+  {
+    block_boxes[threadIdx.x * NUM_BOX_CORNERS + 0] = dev_boxes[(block_threads * col_start + threadIdx.x) * NUM_BOX_CORNERS + 0];
+    block_boxes[threadIdx.x * NUM_BOX_CORNERS + 1] = dev_boxes[(block_threads * col_start + threadIdx.x) * NUM_BOX_CORNERS + 1];
+    block_boxes[threadIdx.x * NUM_BOX_CORNERS + 2] = dev_boxes[(block_threads * col_start + threadIdx.x) * NUM_BOX_CORNERS + 2];
+    block_boxes[threadIdx.x * NUM_BOX_CORNERS + 3] = dev_boxes[(block_threads * col_start + threadIdx.x) * NUM_BOX_CORNERS + 3];
+  }
+  __syncthreads();
+
+  if (threadIdx.x < row_size)
+  {
+    const int cur_box_idx = block_threads * row_start + threadIdx.x;
+    const float cur_box[NUM_2D_BOX_CORNERS_MACRO] = {dev_boxes[cur_box_idx*NUM_BOX_CORNERS + 0],
+                                                     dev_boxes[cur_box_idx*NUM_BOX_CORNERS + 1],
+                                                     dev_boxes[cur_box_idx*NUM_BOX_CORNERS + 2],
+                                                     dev_boxes[cur_box_idx*NUM_BOX_CORNERS + 3]};
+    unsigned long long t = 0;
+    int start = 0;
+    if (row_start == col_start)
+    {
+      start = threadIdx.x + 1;
+    }
+    for (int i = start; i < col_size; i++)
+    {
+      if (devIoU(cur_box, block_boxes + i * NUM_BOX_CORNERS) > nms_overlap_thresh)
+      {
+        t |= 1ULL << i;
+      }
+    }
+    const int col_blocks = DIVUP(n_boxes, block_threads);
+    dev_mask[cur_box_idx * col_blocks + col_start] = t;
+  }
+}
+
+NMSCuda::NMSCuda(const int NUM_THREADS, const int NUM_BOX_CORNERS ,const float nms_overlap_threshold):
+NUM_THREADS_(NUM_THREADS),
+NUM_BOX_CORNERS_(NUM_BOX_CORNERS),
+nms_overlap_threshold_(nms_overlap_threshold)
+{
+}
+
+void NMSCuda::doNMSCuda(const int host_filter_count, float* dev_sorted_box_for_nms, int* out_keep_inds, int& out_num_to_keep)
+{
+  const int col_blocks = DIVUP(host_filter_count, NUM_THREADS_);
+  dim3 blocks(DIVUP(host_filter_count, NUM_THREADS_),DIVUP(host_filter_count, NUM_THREADS_));
+  dim3 threads(NUM_THREADS_);
+
+  unsigned long long *dev_mask = NULL;
+  GPU_CHECK(cudaMalloc(&dev_mask, host_filter_count * col_blocks * sizeof(unsigned long long)));
+
+  nms_kernel<<<blocks, threads>>>(host_filter_count, nms_overlap_threshold_, dev_sorted_box_for_nms, dev_mask, NUM_BOX_CORNERS_);
+
+  // postprocess for nms output
+  std::vector<unsigned long long> host_mask(host_filter_count * col_blocks);
+  GPU_CHECK(cudaMemcpy(&host_mask[0],dev_mask, sizeof(unsigned long long) * host_filter_count * col_blocks,cudaMemcpyDeviceToHost));
+  std::vector<unsigned long long> remv(col_blocks);
+  memset(&remv[0], 0, sizeof(unsigned long long) * col_blocks);
+
+  for (int i = 0; i < host_filter_count; i++)
+  {
+    int nblock = i /  NUM_THREADS_;
+    int inblock = i % NUM_THREADS_;
+
+    if (!(remv[nblock] & (1ULL << inblock)))
+    {
+      out_keep_inds[out_num_to_keep++] = i;
+      unsigned long long *p = &host_mask[0] + i * col_blocks;
+      for (int j = nblock; j < col_blocks; j++)
+      {
+        remv[j] |= p[j];
+      }
+    }
+  }
+  GPU_CHECK(cudaFree(dev_mask));
+}
diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp
new file mode 100644
index 00000000000..52fa314bf85
--- /dev/null
+++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp
@@ -0,0 +1,587 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+// headers in STL
+#include <chrono>
+#include <iostream>
+
+// headers in local files
+#include "lidar_point_pillars/point_pillars.h"
+
+// clang-format off
+PointPillars::PointPillars(const bool reproduce_result_mode, const float score_threshold,
+                           const float nms_overlap_threshold, const std::string pfe_onnx_file,
+                           const std::string rpn_onnx_file)
+  : reproduce_result_mode_(reproduce_result_mode)
+  , score_threshold_(score_threshold)
+  , nms_overlap_threshold_(nms_overlap_threshold)
+  , pfe_onnx_file_(pfe_onnx_file)
+  , rpn_onnx_file_(rpn_onnx_file)
+  , MAX_NUM_PILLARS_(12000)
+  , MAX_NUM_POINTS_PER_PILLAR_(100)
+  , PFE_OUTPUT_SIZE_(MAX_NUM_PILLARS_ * 64)
+  , GRID_X_SIZE_(432)
+  , GRID_Y_SIZE_(496)
+  , GRID_Z_SIZE_(1)
+  , RPN_INPUT_SIZE_(64 * GRID_X_SIZE_ * GRID_Y_SIZE_)
+  , NUM_ANCHOR_X_INDS_(GRID_X_SIZE_ * 0.5)
+  , NUM_ANCHOR_Y_INDS_(GRID_Y_SIZE_ * 0.5)
+  , NUM_ANCHOR_R_INDS_(2)
+  , NUM_ANCHOR_(NUM_ANCHOR_X_INDS_ * NUM_ANCHOR_Y_INDS_ * NUM_ANCHOR_R_INDS_)
+  , RPN_BOX_OUTPUT_SIZE_(NUM_ANCHOR_ * 7)
+  , RPN_CLS_OUTPUT_SIZE_(NUM_ANCHOR_)
+  , RPN_DIR_OUTPUT_SIZE_(NUM_ANCHOR_ * 2)
+  , PILLAR_X_SIZE_(0.16f)
+  , PILLAR_Y_SIZE_(0.16f)
+  , PILLAR_Z_SIZE_(4.0f)
+  , MIN_X_RANGE_(0.0f)
+  , MIN_Y_RANGE_(-39.68f)
+  , MIN_Z_RANGE_(-3.0f)
+  , MAX_X_RANGE_(69.12f)
+  , MAX_Y_RANGE_(39.68f)
+  , MAX_Z_RANGE_(1)
+  , BATCH_SIZE_(1)
+  , NUM_INDS_FOR_SCAN_(512)
+  , NUM_THREADS_(64) // if you change NUM_THREADS_, need to modify NUM_THREADS_MACRO in common.h
+  , SENSOR_HEIGHT_(1.73f)
+  , ANCHOR_DX_SIZE_(1.6f)
+  , ANCHOR_DY_SIZE_(3.9f)
+  , ANCHOR_DZ_SIZE_(1.56f)
+  , NUM_BOX_CORNERS_(4)
+  , NUM_OUTPUT_BOX_FEATURE_(7)
+{
+  if (reproduce_result_mode_)
+  {
+    preprocess_points_ptr_.reset(new PreprocessPoints(MAX_NUM_PILLARS_, MAX_NUM_POINTS_PER_PILLAR_, GRID_X_SIZE_,
+                                                      GRID_Y_SIZE_, GRID_Z_SIZE_, PILLAR_X_SIZE_, PILLAR_Y_SIZE_,
+                                                      PILLAR_Z_SIZE_, MIN_X_RANGE_, MIN_Y_RANGE_, MIN_Z_RANGE_,
+                                                      NUM_INDS_FOR_SCAN_, NUM_BOX_CORNERS_));
+  }
+  else
+  {
+    preprocess_points_cuda_ptr_.reset(new PreprocessPointsCuda(
+        NUM_THREADS_, MAX_NUM_PILLARS_, MAX_NUM_POINTS_PER_PILLAR_, NUM_INDS_FOR_SCAN_, GRID_X_SIZE_, GRID_Y_SIZE_,
+        GRID_Z_SIZE_, PILLAR_X_SIZE_, PILLAR_Y_SIZE_, PILLAR_Z_SIZE_, MIN_X_RANGE_, MIN_Y_RANGE_, MIN_Z_RANGE_, NUM_BOX_CORNERS_));
+  }
+
+  anchor_mask_cuda_ptr_.reset(new AnchorMaskCuda(NUM_INDS_FOR_SCAN_, NUM_ANCHOR_X_INDS_, NUM_ANCHOR_Y_INDS_,
+                                                 NUM_ANCHOR_R_INDS_, MIN_X_RANGE_, MIN_Y_RANGE_, PILLAR_X_SIZE_,
+                                                 PILLAR_Y_SIZE_, GRID_X_SIZE_, GRID_Y_SIZE_));
+
+  scatter_cuda_ptr_.reset(new ScatterCuda(NUM_THREADS_, MAX_NUM_PILLARS_, GRID_X_SIZE_, GRID_Y_SIZE_));
+
+  const float FLOAT_MIN = std::numeric_limits<float>::lowest();
+  const float FLOAT_MAX = std::numeric_limits<float>::max();
+  postprocess_cuda_ptr_.reset(new PostprocessCuda(FLOAT_MIN, FLOAT_MAX, NUM_ANCHOR_X_INDS_, NUM_ANCHOR_Y_INDS_,
+                                                  NUM_ANCHOR_R_INDS_, score_threshold_, NUM_THREADS_,
+                                                  nms_overlap_threshold_, NUM_BOX_CORNERS_, NUM_OUTPUT_BOX_FEATURE_));
+
+  deviceMemoryMalloc();
+  initTRT();
+  initAnchors();
+}
+// clang-format on
+
+PointPillars::~PointPillars()
+{
+  delete[] anchors_px_;
+  delete[] anchors_py_;
+  delete[] anchors_pz_;
+  delete[] anchors_dx_;
+  delete[] anchors_dy_;
+  delete[] anchors_dz_;
+  delete[] anchors_ro_;
+  delete[] box_anchors_min_x_;
+  delete[] box_anchors_min_y_;
+  delete[] box_anchors_max_x_;
+  delete[] box_anchors_max_y_;
+
+  GPU_CHECK(cudaFree(dev_pillar_x_in_coors_));
+  GPU_CHECK(cudaFree(dev_pillar_y_in_coors_));
+  GPU_CHECK(cudaFree(dev_pillar_z_in_coors_));
+  GPU_CHECK(cudaFree(dev_pillar_i_in_coors_));
+  GPU_CHECK(cudaFree(dev_pillar_count_histo_));
+
+  GPU_CHECK(cudaFree(dev_x_coors_));
+  GPU_CHECK(cudaFree(dev_y_coors_));
+  GPU_CHECK(cudaFree(dev_num_points_per_pillar_));
+  GPU_CHECK(cudaFree(dev_sparse_pillar_map_));
+
+  GPU_CHECK(cudaFree(dev_pillar_x_));
+  GPU_CHECK(cudaFree(dev_pillar_y_));
+  GPU_CHECK(cudaFree(dev_pillar_z_));
+  GPU_CHECK(cudaFree(dev_pillar_i_));
+
+  GPU_CHECK(cudaFree(dev_x_coors_for_sub_shaped_));
+  GPU_CHECK(cudaFree(dev_y_coors_for_sub_shaped_));
+  GPU_CHECK(cudaFree(dev_pillar_feature_mask_));
+
+  GPU_CHECK(cudaFree(dev_cumsum_along_x_));
+  GPU_CHECK(cudaFree(dev_cumsum_along_y_));
+
+  GPU_CHECK(cudaFree(dev_box_anchors_min_x_));
+  GPU_CHECK(cudaFree(dev_box_anchors_min_y_));
+  GPU_CHECK(cudaFree(dev_box_anchors_max_x_));
+  GPU_CHECK(cudaFree(dev_box_anchors_max_y_));
+  GPU_CHECK(cudaFree(dev_anchor_mask_));
+
+  GPU_CHECK(cudaFree(pfe_buffers_[0]));
+  GPU_CHECK(cudaFree(pfe_buffers_[1]));
+  GPU_CHECK(cudaFree(pfe_buffers_[2]));
+  GPU_CHECK(cudaFree(pfe_buffers_[3]));
+  GPU_CHECK(cudaFree(pfe_buffers_[4]));
+  GPU_CHECK(cudaFree(pfe_buffers_[5]));
+  GPU_CHECK(cudaFree(pfe_buffers_[6]));
+  GPU_CHECK(cudaFree(pfe_buffers_[7]));
+  GPU_CHECK(cudaFree(pfe_buffers_[8]));
+
+  GPU_CHECK(cudaFree(rpn_buffers_[0]));
+  GPU_CHECK(cudaFree(rpn_buffers_[1]));
+  GPU_CHECK(cudaFree(rpn_buffers_[2]));
+  GPU_CHECK(cudaFree(rpn_buffers_[3]));
+
+  GPU_CHECK(cudaFree(dev_scattered_feature_));
+
+  GPU_CHECK(cudaFree(dev_anchors_px_));
+  GPU_CHECK(cudaFree(dev_anchors_py_));
+  GPU_CHECK(cudaFree(dev_anchors_pz_));
+  GPU_CHECK(cudaFree(dev_anchors_dx_));
+  GPU_CHECK(cudaFree(dev_anchors_dy_));
+  GPU_CHECK(cudaFree(dev_anchors_dz_));
+  GPU_CHECK(cudaFree(dev_anchors_ro_));
+  GPU_CHECK(cudaFree(dev_filtered_box_));
+  GPU_CHECK(cudaFree(dev_filtered_score_));
+  GPU_CHECK(cudaFree(dev_filtered_dir_));
+  GPU_CHECK(cudaFree(dev_box_for_nms_));
+  GPU_CHECK(cudaFree(dev_filter_count_));
+
+  pfe_context_->destroy();
+  rpn_context_->destroy();
+
+  pfe_runtime_->destroy();
+  rpn_runtime_->destroy();
+  pfe_engine_->destroy();
+  rpn_engine_->destroy();
+}
+
+void PointPillars::deviceMemoryMalloc()
+{
+  // clang-format off
+  GPU_CHECK(cudaMalloc((void**)&dev_pillar_x_in_coors_,GRID_Y_SIZE_ * GRID_X_SIZE_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_pillar_y_in_coors_,GRID_Y_SIZE_ * GRID_X_SIZE_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_pillar_z_in_coors_,GRID_Y_SIZE_ * GRID_X_SIZE_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_pillar_i_in_coors_,GRID_Y_SIZE_ * GRID_X_SIZE_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_pillar_count_histo_, GRID_Y_SIZE_ * GRID_X_SIZE_ * sizeof(int)));
+  // clang-format on
+
+  GPU_CHECK(cudaMalloc((void**)&dev_x_coors_, MAX_NUM_PILLARS_ * sizeof(int)));
+  GPU_CHECK(cudaMalloc((void**)&dev_y_coors_, MAX_NUM_PILLARS_ * sizeof(int)));
+  GPU_CHECK(cudaMalloc((void**)&dev_num_points_per_pillar_, MAX_NUM_PILLARS_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_sparse_pillar_map_, NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_ * sizeof(int)));
+
+  GPU_CHECK(cudaMalloc((void**)&dev_pillar_x_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_pillar_y_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_pillar_z_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_pillar_i_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+
+  // clang-format off
+  GPU_CHECK(cudaMalloc((void**)&dev_x_coors_for_sub_shaped_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_y_coors_for_sub_shaped_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_pillar_feature_mask_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  // clang-format on
+
+  // cumsum kernel
+  GPU_CHECK(cudaMalloc((void**)&dev_cumsum_along_x_, NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_ * sizeof(int)));
+  GPU_CHECK(cudaMalloc((void**)&dev_cumsum_along_y_, NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_ * sizeof(int)));
+
+  // for make anchor mask kernel
+  GPU_CHECK(cudaMalloc((void**)&dev_box_anchors_min_x_, NUM_ANCHOR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_box_anchors_min_y_, NUM_ANCHOR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_box_anchors_max_x_, NUM_ANCHOR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_box_anchors_max_y_, NUM_ANCHOR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_anchor_mask_, NUM_ANCHOR_ * sizeof(int)));
+
+  // for trt inference
+  // create GPU buffers and a stream
+  GPU_CHECK(cudaMalloc(&pfe_buffers_[0], MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc(&pfe_buffers_[1], MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc(&pfe_buffers_[2], MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc(&pfe_buffers_[3], MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc(&pfe_buffers_[4], MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc(&pfe_buffers_[5], MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc(&pfe_buffers_[6], MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc(&pfe_buffers_[7], MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc(&pfe_buffers_[8], PFE_OUTPUT_SIZE_ * sizeof(float)));
+
+  GPU_CHECK(cudaMalloc(&rpn_buffers_[0], RPN_INPUT_SIZE_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc(&rpn_buffers_[1], RPN_BOX_OUTPUT_SIZE_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc(&rpn_buffers_[2], RPN_CLS_OUTPUT_SIZE_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc(&rpn_buffers_[3], RPN_DIR_OUTPUT_SIZE_ * sizeof(float)));
+
+  // for scatter kernel
+  GPU_CHECK(cudaMalloc((void**)&dev_scattered_feature_, NUM_THREADS_ * GRID_Y_SIZE_ * GRID_X_SIZE_ * sizeof(float)));
+
+  // for filter
+  GPU_CHECK(cudaMalloc((void**)&dev_anchors_px_, NUM_ANCHOR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_anchors_py_, NUM_ANCHOR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_anchors_pz_, NUM_ANCHOR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_anchors_dx_, NUM_ANCHOR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_anchors_dy_, NUM_ANCHOR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_anchors_dz_, NUM_ANCHOR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_anchors_ro_, NUM_ANCHOR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_filtered_box_, NUM_ANCHOR_ * NUM_OUTPUT_BOX_FEATURE_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_filtered_score_, NUM_ANCHOR_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_filtered_dir_, NUM_ANCHOR_ * sizeof(int)));
+  GPU_CHECK(cudaMalloc((void**)&dev_box_for_nms_, NUM_ANCHOR_ * NUM_BOX_CORNERS_ * sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_filter_count_, sizeof(int)));
+}
+
+void PointPillars::initAnchors()
+{
+  // allocate memory for anchors
+  anchors_px_ = new float[NUM_ANCHOR_];
+  anchors_py_ = new float[NUM_ANCHOR_];
+  anchors_pz_ = new float[NUM_ANCHOR_];
+  anchors_dx_ = new float[NUM_ANCHOR_];
+  anchors_dy_ = new float[NUM_ANCHOR_];
+  anchors_dz_ = new float[NUM_ANCHOR_];
+  anchors_ro_ = new float[NUM_ANCHOR_];
+  box_anchors_min_x_ = new float[NUM_ANCHOR_];
+  box_anchors_min_y_ = new float[NUM_ANCHOR_];
+  box_anchors_max_x_ = new float[NUM_ANCHOR_];
+  box_anchors_max_y_ = new float[NUM_ANCHOR_];
+  // deallocate these memories in deconstructor
+
+  generateAnchors(anchors_px_, anchors_py_, anchors_pz_, anchors_dx_, anchors_dy_, anchors_dz_, anchors_ro_);
+
+  convertAnchors2BoxAnchors(anchors_px_, anchors_py_, anchors_dx_, anchors_dy_, box_anchors_min_x_, box_anchors_min_y_,
+                            box_anchors_max_x_, box_anchors_max_y_);
+
+  putAnchorsInDeviceMemory();
+}
+
+void PointPillars::generateAnchors(float* anchors_px_, float* anchors_py_, float* anchors_pz_, float* anchors_dx_,
+                                   float* anchors_dy_, float* anchors_dz_, float* anchors_ro_)
+{
+  // zero clear
+  for (size_t i = 0; i < NUM_ANCHOR_; i++)
+  {
+    anchors_px_[i] = 0;
+    anchors_py_[i] = 0;
+    anchors_pz_[i] = 0;
+    anchors_dx_[i] = 0;
+    anchors_dy_[i] = 0;
+    anchors_dz_[i] = 0;
+    anchors_ro_[i] = 0;
+    box_anchors_min_x_[i] = 0;
+    box_anchors_min_y_[i] = 0;
+    box_anchors_max_x_[i] = 0;
+    box_anchors_max_y_[i] = 0;
+  }
+
+  float x_stride = PILLAR_X_SIZE_ * 2.0f;
+  float y_stride = PILLAR_Y_SIZE_ * 2.0f;
+  float x_offset = MIN_X_RANGE_ + PILLAR_X_SIZE_;
+  float y_offset = MIN_Y_RANGE_ + PILLAR_Y_SIZE_;
+
+  float anchor_x_count[NUM_ANCHOR_X_INDS_] = { 0 };
+  for (size_t i = 0; i < NUM_ANCHOR_X_INDS_; i++)
+  {
+    anchor_x_count[i] = float(i) * x_stride + x_offset;
+  }
+  float anchor_y_count[NUM_ANCHOR_Y_INDS_] = { 0 };
+  for (size_t i = 0; i < NUM_ANCHOR_Y_INDS_; i++)
+  {
+    anchor_y_count[i] = float(i) * y_stride + y_offset;
+  }
+
+  float anchor_r_count[NUM_ANCHOR_R_INDS_] = { 0, M_PI / 2 };
+
+  // np.meshgrid
+  for (size_t y = 0; y < NUM_ANCHOR_Y_INDS_; y++)
+  {
+    for (size_t x = 0; x < NUM_ANCHOR_X_INDS_; x++)
+    {
+      for (size_t r = 0; r < NUM_ANCHOR_R_INDS_; r++)
+      {
+        int ind = y * NUM_ANCHOR_X_INDS_ * NUM_ANCHOR_R_INDS_ + x * NUM_ANCHOR_R_INDS_ + r;
+        anchors_px_[ind] = anchor_x_count[x];
+        anchors_py_[ind] = anchor_y_count[y];
+        anchors_ro_[ind] = anchor_r_count[r];
+        anchors_pz_[ind] = -1 * SENSOR_HEIGHT_;
+        anchors_dx_[ind] = ANCHOR_DX_SIZE_;
+        anchors_dy_[ind] = ANCHOR_DY_SIZE_;
+        anchors_dz_[ind] = ANCHOR_DZ_SIZE_;
+      }
+    }
+  }
+}
+
+void PointPillars::putAnchorsInDeviceMemory()
+{
+  // clang-format off
+  GPU_CHECK(cudaMemcpy(dev_box_anchors_min_x_, box_anchors_min_x_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice));
+  GPU_CHECK(cudaMemcpy(dev_box_anchors_min_y_, box_anchors_min_y_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice));
+  GPU_CHECK(cudaMemcpy(dev_box_anchors_max_x_, box_anchors_max_x_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice));
+  GPU_CHECK(cudaMemcpy(dev_box_anchors_max_y_, box_anchors_max_y_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice));
+  // clang-format on
+
+  GPU_CHECK(cudaMemcpy(dev_anchors_px_, anchors_px_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice));
+  GPU_CHECK(cudaMemcpy(dev_anchors_py_, anchors_py_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice));
+  GPU_CHECK(cudaMemcpy(dev_anchors_pz_, anchors_pz_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice));
+  GPU_CHECK(cudaMemcpy(dev_anchors_dx_, anchors_dx_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice));
+  GPU_CHECK(cudaMemcpy(dev_anchors_dy_, anchors_dy_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice));
+  GPU_CHECK(cudaMemcpy(dev_anchors_dz_, anchors_dz_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice));
+  GPU_CHECK(cudaMemcpy(dev_anchors_ro_, anchors_ro_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice));
+}
+
+void PointPillars::convertAnchors2BoxAnchors(float* anchors_px, float* anchors_py, float* anchors_dx, float* anchors_dy,
+                                             float* box_anchors_min_x_, float* box_anchors_min_y_,
+                                             float* box_anchors_max_x_, float* box_anchors_max_y_)
+{
+  // flipping box's dimension
+  float flipped_anchors_dx[NUM_ANCHOR_] = { 0 };
+  float flipped_anchors_dy[NUM_ANCHOR_] = { 0 };
+  for (size_t x = 0; x < NUM_ANCHOR_X_INDS_; x++)
+  {
+    for (size_t y = 0; y < NUM_ANCHOR_Y_INDS_; y++)
+    {
+      int base_ind = x * NUM_ANCHOR_Y_INDS_ * NUM_ANCHOR_R_INDS_ + y * NUM_ANCHOR_R_INDS_;
+      flipped_anchors_dx[base_ind + 0] = ANCHOR_DX_SIZE_;
+      flipped_anchors_dy[base_ind + 0] = ANCHOR_DY_SIZE_;
+      flipped_anchors_dx[base_ind + 1] = ANCHOR_DY_SIZE_;
+      flipped_anchors_dy[base_ind + 1] = ANCHOR_DX_SIZE_;
+    }
+  }
+  for (size_t x = 0; x < NUM_ANCHOR_X_INDS_; x++)
+  {
+    for (size_t y = 0; y < NUM_ANCHOR_Y_INDS_; y++)
+    {
+      for (size_t r = 0; r < NUM_ANCHOR_R_INDS_; r++)
+      {
+        int ind = x * NUM_ANCHOR_Y_INDS_ * NUM_ANCHOR_R_INDS_ + y * NUM_ANCHOR_R_INDS_ + r;
+        box_anchors_min_x_[ind] = anchors_px[ind] - flipped_anchors_dx[ind] / 2.0f;
+        box_anchors_min_y_[ind] = anchors_py[ind] - flipped_anchors_dy[ind] / 2.0f;
+        box_anchors_max_x_[ind] = anchors_px[ind] + flipped_anchors_dx[ind] / 2.0f;
+        box_anchors_max_y_[ind] = anchors_py[ind] + flipped_anchors_dy[ind] / 2.0f;
+      }
+    }
+  }
+}
+
+void PointPillars::initTRT()
+{
+  // create a TensorRT model from the onnx model and serialize it to a stream
+  nvinfer1::IHostMemory* pfe_trt_model_stream{ nullptr };
+  nvinfer1::IHostMemory* rpn_trt_model_stream{ nullptr };
+  onnxToTRTModel(pfe_onnx_file_, pfe_trt_model_stream);
+  onnxToTRTModel(rpn_onnx_file_, rpn_trt_model_stream);
+  if (pfe_trt_model_stream == nullptr || rpn_trt_model_stream == nullptr)
+  {//use std:cerr instead of ROS_ERROR because want to keep this fille ros-agnostics
+    std::cerr<< "Failed to load ONNX file " << std::endl;
+  }
+
+  // deserialize the engine
+  pfe_runtime_ = nvinfer1::createInferRuntime(g_logger_);
+  rpn_runtime_ = nvinfer1::createInferRuntime(g_logger_);
+  if (pfe_runtime_ == nullptr || rpn_runtime_ == nullptr)
+  {
+    std::cerr<<"Failed to create TensorRT Runtime object."<<std::endl;
+  }
+  pfe_engine_ =
+      pfe_runtime_->deserializeCudaEngine(pfe_trt_model_stream->data(), pfe_trt_model_stream->size(), nullptr);
+  rpn_engine_ =
+      rpn_runtime_->deserializeCudaEngine(rpn_trt_model_stream->data(), rpn_trt_model_stream->size(), nullptr);
+  if (pfe_engine_ == nullptr || rpn_engine_ == nullptr)
+  {
+    std::cerr << "Failed to create TensorRT Engine." << std::endl;
+  }
+  pfe_trt_model_stream->destroy();
+  rpn_trt_model_stream->destroy();
+  pfe_context_ = pfe_engine_->createExecutionContext();
+  rpn_context_ = rpn_engine_->createExecutionContext();
+  if (pfe_context_ == nullptr || rpn_context_ == nullptr)
+  {
+    std::cerr << "Failed to create TensorRT Execution Context." << std::endl;;
+  }
+}
+
+void PointPillars::onnxToTRTModel(const std::string& model_file,             // name of the onnx model
+                                  nvinfer1::IHostMemory*& trt_model_stream)  // output buffer for the TensorRT model
+{
+  int verbosity = (int)nvinfer1::ILogger::Severity::kWARNING;
+
+  // create the builder
+  nvinfer1::IBuilder* builder = nvinfer1::createInferBuilder(g_logger_);
+  nvinfer1::INetworkDefinition* network = builder->createNetwork();
+
+  auto parser = nvonnxparser::createParser(*network, g_logger_);
+
+  if (!parser->parseFromFile(model_file.c_str(), verbosity))
+  {
+    std::string msg("failed to parse onnx file");
+    g_logger_.log(nvinfer1::ILogger::Severity::kERROR, msg.c_str());
+    exit(EXIT_FAILURE);
+  }
+
+  // Build the engine
+  builder->setMaxBatchSize(BATCH_SIZE_);
+  builder->setMaxWorkspaceSize(1 << 20);
+
+  nvinfer1::ICudaEngine* engine = builder->buildCudaEngine(*network);
+
+  parser->destroy();
+
+  // serialize the engine, then close everything down
+  trt_model_stream = engine->serialize();
+  engine->destroy();
+  network->destroy();
+  builder->destroy();
+}
+
+void PointPillars::preprocessCPU(const float* in_points_array, const int in_num_points)
+{
+  int x_coors[MAX_NUM_PILLARS_] = { 0 };
+  int y_coors[MAX_NUM_PILLARS_] = { 0 };
+  float num_points_per_pillar[MAX_NUM_PILLARS_] = { 0 };
+  float* pillar_x = new float[MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_];
+  float* pillar_y = new float[MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_];
+  float* pillar_z = new float[MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_];
+  float* pillar_i = new float[MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_];
+
+  float* x_coors_for_sub_shaped = new float[MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_];
+  float* y_coors_for_sub_shaped = new float[MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_];
+  float* pillar_feature_mask = new float[MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_];
+
+  float* sparse_pillar_map = new float[NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_];
+
+  preprocess_points_ptr_->preprocess(in_points_array, in_num_points, x_coors, y_coors, num_points_per_pillar, pillar_x,
+                                     pillar_y, pillar_z, pillar_i, x_coors_for_sub_shaped, y_coors_for_sub_shaped,
+                                     pillar_feature_mask, sparse_pillar_map, host_pillar_count_);
+
+  GPU_CHECK(cudaMemset(dev_x_coors_, 0, MAX_NUM_PILLARS_ * sizeof(int)));
+  GPU_CHECK(cudaMemset(dev_y_coors_, 0, MAX_NUM_PILLARS_ * sizeof(int)));
+  GPU_CHECK(cudaMemset(dev_pillar_x_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMemset(dev_pillar_y_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMemset(dev_pillar_z_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMemset(dev_pillar_i_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMemset(dev_x_coors_for_sub_shaped_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMemset(dev_y_coors_for_sub_shaped_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMemset(dev_num_points_per_pillar_, 0, MAX_NUM_PILLARS_ * sizeof(float)));
+  GPU_CHECK(cudaMemset(dev_sparse_pillar_map_, 0, NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_ * sizeof(int)));
+
+  // clang-format off
+  GPU_CHECK(cudaMemcpy(dev_x_coors_, x_coors, MAX_NUM_PILLARS_ * sizeof(int), cudaMemcpyHostToDevice));
+  GPU_CHECK(cudaMemcpy(dev_y_coors_, y_coors, MAX_NUM_PILLARS_ * sizeof(int), cudaMemcpyHostToDevice));
+  GPU_CHECK(cudaMemcpy(dev_pillar_x_, pillar_x, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float),cudaMemcpyHostToDevice));
+  GPU_CHECK(cudaMemcpy(dev_pillar_y_, pillar_y, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float),cudaMemcpyHostToDevice));
+  GPU_CHECK(cudaMemcpy(dev_pillar_z_, pillar_z, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float),cudaMemcpyHostToDevice));
+  GPU_CHECK(cudaMemcpy(dev_pillar_i_, pillar_i, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float),cudaMemcpyHostToDevice));
+  GPU_CHECK(cudaMemcpy(dev_x_coors_for_sub_shaped_, x_coors_for_sub_shaped, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyHostToDevice));
+  GPU_CHECK(cudaMemcpy(dev_y_coors_for_sub_shaped_, y_coors_for_sub_shaped,MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyHostToDevice));
+  GPU_CHECK(cudaMemcpy(dev_num_points_per_pillar_, num_points_per_pillar, MAX_NUM_PILLARS_ * sizeof(float),cudaMemcpyHostToDevice));
+  GPU_CHECK(cudaMemcpy(dev_pillar_feature_mask_, pillar_feature_mask,MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyHostToDevice));
+  GPU_CHECK(cudaMemcpy(dev_sparse_pillar_map_, sparse_pillar_map,NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_ * sizeof(float), cudaMemcpyHostToDevice));
+  // clang-format on
+
+  delete[] pillar_x;
+  delete[] pillar_y;
+  delete[] pillar_z;
+  delete[] pillar_i;
+  delete[] x_coors_for_sub_shaped;
+  delete[] y_coors_for_sub_shaped;
+  delete[] pillar_feature_mask;
+  delete[] sparse_pillar_map;
+}
+
+void PointPillars::preprocessGPU(const float* in_points_array, const int in_num_points)
+{
+  float* dev_points;
+  // clang-format off
+  GPU_CHECK(cudaMalloc((void**)&dev_points, in_num_points * NUM_BOX_CORNERS_ * sizeof(float)));
+  GPU_CHECK(cudaMemcpy(dev_points, in_points_array, in_num_points * NUM_BOX_CORNERS_ * sizeof(float), cudaMemcpyHostToDevice));
+  // clang-format on
+
+  GPU_CHECK(cudaMemset(dev_pillar_count_histo_, 0, GRID_Y_SIZE_ * GRID_X_SIZE_ * sizeof(int)));
+  GPU_CHECK(cudaMemset(dev_sparse_pillar_map_, 0, NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_ * sizeof(int)));
+  GPU_CHECK(cudaMemset(dev_pillar_x_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMemset(dev_pillar_y_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMemset(dev_pillar_z_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMemset(dev_pillar_i_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float)));
+  GPU_CHECK(cudaMemset(dev_x_coors_, 0, MAX_NUM_PILLARS_ * sizeof(int)));
+  GPU_CHECK(cudaMemset(dev_y_coors_, 0, MAX_NUM_PILLARS_ * sizeof(int)));
+  GPU_CHECK(cudaMemset(dev_num_points_per_pillar_, 0, MAX_NUM_PILLARS_ * sizeof(float)));
+  GPU_CHECK(cudaMemset(dev_anchor_mask_, 0, NUM_ANCHOR_ * sizeof(int)));
+
+  preprocess_points_cuda_ptr_->doPreprocessPointsCuda(
+      dev_points, in_num_points, dev_x_coors_, dev_y_coors_, dev_num_points_per_pillar_, dev_pillar_x_, dev_pillar_y_,
+      dev_pillar_z_, dev_pillar_i_, dev_x_coors_for_sub_shaped_, dev_y_coors_for_sub_shaped_, dev_pillar_feature_mask_,
+      dev_sparse_pillar_map_, host_pillar_count_);
+
+  GPU_CHECK(cudaFree(dev_points));
+}
+
+void PointPillars::preprocess(const float* in_points_array, const int in_num_points)
+{
+  if (reproduce_result_mode_)
+  {
+    preprocessCPU(in_points_array, in_num_points);
+  }
+  else
+  {
+    preprocessGPU(in_points_array, in_num_points);
+  }
+}
+
+void PointPillars::doInference(const float* in_points_array, const int in_num_points, std::vector<float>& out_detections)
+{
+  preprocess(in_points_array, in_num_points);
+
+  anchor_mask_cuda_ptr_->doAnchorMaskCuda(dev_sparse_pillar_map_, dev_cumsum_along_x_, dev_cumsum_along_y_,
+                                          dev_box_anchors_min_x_, dev_box_anchors_min_y_, dev_box_anchors_max_x_,
+                                          dev_box_anchors_max_y_, dev_anchor_mask_);
+
+  cudaStream_t stream;
+  GPU_CHECK(cudaStreamCreate(&stream));
+  // clang-format off
+  GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[0], dev_pillar_x_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream));
+  GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[1], dev_pillar_y_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream));
+  GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[2], dev_pillar_z_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream));
+  GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[3], dev_pillar_i_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream));
+  GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[4], dev_num_points_per_pillar_, MAX_NUM_PILLARS_ * sizeof(float), cudaMemcpyDeviceToDevice, stream));
+  GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[5], dev_x_coors_for_sub_shaped_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream));
+  GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[6], dev_y_coors_for_sub_shaped_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream));
+  GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[7], dev_pillar_feature_mask_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream));
+  // clang-format on
+  pfe_context_->enqueue(BATCH_SIZE_, pfe_buffers_, stream, nullptr);
+
+  GPU_CHECK(cudaMemset(dev_scattered_feature_, 0, RPN_INPUT_SIZE_ * sizeof(float)));
+  scatter_cuda_ptr_->doScatterCuda(host_pillar_count_[0], dev_x_coors_, dev_y_coors_, (float*)pfe_buffers_[8],
+                                   dev_scattered_feature_);
+
+  GPU_CHECK(cudaMemcpyAsync(rpn_buffers_[0], dev_scattered_feature_, BATCH_SIZE_ * RPN_INPUT_SIZE_ * sizeof(float),
+                            cudaMemcpyDeviceToDevice, stream));
+  rpn_context_->enqueue(BATCH_SIZE_, rpn_buffers_, stream, nullptr);
+
+  GPU_CHECK(cudaMemset(dev_filter_count_, 0, sizeof(int)));
+  postprocess_cuda_ptr_->doPostprocessCuda(
+      (float*)rpn_buffers_[1], (float*)rpn_buffers_[2], (float*)rpn_buffers_[3], dev_anchor_mask_, dev_anchors_px_,
+      dev_anchors_py_, dev_anchors_pz_, dev_anchors_dx_, dev_anchors_dy_, dev_anchors_dz_, dev_anchors_ro_,
+      dev_filtered_box_, dev_filtered_score_, dev_filtered_dir_, dev_box_for_nms_, dev_filter_count_, out_detections);
+
+  // release the stream and the buffers
+  cudaStreamDestroy(stream);
+}
diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp
new file mode 100644
index 00000000000..776ce59394a
--- /dev/null
+++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp
@@ -0,0 +1,182 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+// headers in STL
+#include <chrono>
+#include <cmath>
+
+// headers in PCL
+#include <pcl_conversions/pcl_conversions.h>
+#include <pcl/PCLPointCloud2.h>
+#include <pcl_ros/transforms.h>
+
+// headers in ROS
+#include <tf/transform_datatypes.h>
+
+// headers in local files
+#include "autoware_msgs/DetectedObjectArray.h"
+#include "lidar_point_pillars/point_pillars_ros.h"
+
+PointPillarsROS::PointPillarsROS()
+  : private_nh_("~")
+  , has_subscribed_baselink_(false)
+  , NUM_POINT_FEATURE_(4)
+  , OUTPUT_NUM_BOX_FEATURE_(7)
+  , TRAINED_SENSOR_HEIGHT_(1.73f)
+  , NORMALIZING_INTENSITY_VALUE_(255.0f)
+  , BASELINK_FRAME_("base_link")
+{
+  //ros related param
+  private_nh_.param<bool>("baselink_support", baselink_support_, true);
+
+  //algorithm related params
+  private_nh_.param<bool>("reproduce_result_mode", reproduce_result_mode_, false);
+  private_nh_.param<float>("score_threshold", score_threshold_, 0.5f);
+  private_nh_.param<float>("nms_overlap_threshold", nms_overlap_threshold_, 0.5f);
+  private_nh_.param<std::string>("pfe_onnx_file", pfe_onnx_file_, "");
+  private_nh_.param<std::string>("rpn_onnx_file", rpn_onnx_file_, "");
+
+  point_pillars_ptr_.reset(new PointPillars(reproduce_result_mode_, score_threshold_, nms_overlap_threshold_,
+                                            pfe_onnx_file_, rpn_onnx_file_));
+}
+
+void PointPillarsROS::createROSPubSub()
+{
+  sub_points_ = nh_.subscribe<sensor_msgs::PointCloud2>("/points_raw", 1, &PointPillarsROS::pointsCallback, this);
+  pub_objects_ = nh_.advertise<autoware_msgs::DetectedObjectArray>("/detection/lidar_detector/objects", 1);
+}
+
+geometry_msgs::Pose PointPillarsROS::getTransformedPose(const geometry_msgs::Pose& in_pose, const tf::Transform& tf)
+{
+  tf::Transform transform;
+  geometry_msgs::PoseStamped out_pose;
+  transform.setOrigin(tf::Vector3(in_pose.position.x, in_pose.position.y, in_pose.position.z));
+  transform.setRotation(
+      tf::Quaternion(in_pose.orientation.x, in_pose.orientation.y, in_pose.orientation.z, in_pose.orientation.w));
+  geometry_msgs::PoseStamped pose_out;
+  tf::poseTFToMsg(tf * transform, out_pose.pose);
+  return out_pose.pose;
+}
+
+void PointPillarsROS::pubDetectedObject(const std::vector<float>& detections, const std_msgs::Header& in_header)
+{
+  autoware_msgs::DetectedObjectArray objects;
+  objects.header = in_header;
+  int num_objects = detections.size() / OUTPUT_NUM_BOX_FEATURE_;
+  for (size_t i = 0; i < num_objects; i++)
+  {
+    autoware_msgs::DetectedObject object;
+    object.header = in_header;
+    object.valid = true;
+    object.pose_reliable = true;
+
+    object.pose.position.x = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 0];
+    object.pose.position.y = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 1];
+    object.pose.position.z = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 2];
+
+    // Trained this way
+    float yaw = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 6];
+    yaw += M_PI/2;
+    yaw = std::atan2(std::sin(yaw), std::cos(yaw));
+    geometry_msgs::Quaternion q = tf::createQuaternionMsgFromYaw(-yaw);
+    object.pose.orientation = q;
+
+    if (baselink_support_)
+    {
+      object.pose = getTransformedPose(object.pose, angle_transform_inversed_);
+    }
+
+    // Again: Trained this way
+    object.dimensions.x = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 4];
+    object.dimensions.y = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 3];
+    object.dimensions.z = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 5];
+
+    //Only detects car in Version 1.0
+    object.label = "car";
+
+    objects.objects.push_back(object);
+  }
+  pub_objects_.publish(objects);
+}
+
+void PointPillarsROS::getBaselinkToLidarTF(const std::string& target_frameid)
+{
+  try
+  {
+    tf_listener_.waitForTransform(BASELINK_FRAME_, target_frameid, ros::Time(0), ros::Duration(1.0));
+    tf_listener_.lookupTransform(BASELINK_FRAME_, target_frameid, ros::Time(0), baselink2lidar_);
+    analyzeTFInfo(baselink2lidar_);
+    has_subscribed_baselink_ = true;
+  }
+  catch (tf::TransformException ex)
+  {
+    ROS_ERROR("%s", ex.what());
+  }
+}
+
+void PointPillarsROS::analyzeTFInfo(tf::StampedTransform baselink2lidar)
+{
+  tf::Vector3 v = baselink2lidar.getOrigin();
+  offset_z_from_trained_data_ = v.getZ() - TRAINED_SENSOR_HEIGHT_;
+
+  tf::Quaternion q = baselink2lidar_.getRotation();
+  angle_transform_ = tf::Transform(q);
+  angle_transform_inversed_ = angle_transform_.inverse();
+}
+
+void PointPillarsROS::pclToArray(const pcl::PointCloud<pcl::PointXYZI>::Ptr& in_pcl_pc_ptr, float* out_points_array,
+                                 const float offset_z)
+{
+  for (size_t i = 0; i < in_pcl_pc_ptr->size(); i++)
+  {
+    pcl::PointXYZI point = in_pcl_pc_ptr->at(i);
+    out_points_array[i * NUM_POINT_FEATURE_ + 0] = point.x;
+    out_points_array[i * NUM_POINT_FEATURE_ + 1] = point.y;
+    out_points_array[i * NUM_POINT_FEATURE_ + 2] = point.z + offset_z;
+    out_points_array[i * NUM_POINT_FEATURE_ + 3] = float(point.intensity / NORMALIZING_INTENSITY_VALUE_);
+  }
+}
+
+void PointPillarsROS::pointsCallback(const sensor_msgs::PointCloud2::ConstPtr& msg)
+{
+  pcl::PointCloud<pcl::PointXYZI>::Ptr pcl_pc_ptr(new pcl::PointCloud<pcl::PointXYZI>);
+  pcl::fromROSMsg(*msg, *pcl_pc_ptr);
+
+  if (baselink_support_)
+  {
+    if (!has_subscribed_baselink_)
+    {
+      getBaselinkToLidarTF(msg->header.frame_id);
+    }
+    pcl_ros::transformPointCloud(*pcl_pc_ptr, *pcl_pc_ptr, angle_transform_);
+  }
+
+  float* points_array = new float[pcl_pc_ptr->size() * NUM_POINT_FEATURE_];
+  if (baselink_support_ && has_subscribed_baselink_)
+  {
+    pclToArray(pcl_pc_ptr, points_array, offset_z_from_trained_data_);
+  }
+  else
+  {
+    pclToArray(pcl_pc_ptr, points_array);
+  }
+
+  std::vector<float> out_detection;
+  point_pillars_ptr_->doInference(points_array, pcl_pc_ptr->size(), out_detection);
+
+  delete[] points_array;
+  pubDetectedObject(out_detection, msg->header);
+}
diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/postprocess_cuda.cu b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/postprocess_cuda.cu
new file mode 100644
index 00000000000..87abbee141e
--- /dev/null
+++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/postprocess_cuda.cu
@@ -0,0 +1,228 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+
+
+//headers in CUDA
+#include <thrust/sort.h>
+
+//headers in local files
+#include "lidar_point_pillars/postprocess_cuda.h"
+
+__global__ void filter_kernel(const float* box_preds, const float* cls_preds, const float* dir_preds, const int* anchor_mask,
+                              const float* dev_anchors_px, const float* dev_anchors_py, const float* dev_anchors_pz,
+                              const float* dev_anchors_dx, const float* dev_anchors_dy, const float* dev_anchors_dz, const float* dev_anchors_ro,
+                              float* filtered_box, float* filtered_score, int* filtered_dir, float* box_for_nms, int* filter_count,
+                              const float FLOAT_MIN, const float FLOAT_MAX, const float score_threshold,
+                              const int NUM_BOX_CORNERS, const int NUM_OUTPUT_BOX_FEATURE)
+{
+  // boxes ([N, 7] Tensor): normal boxes: x, y, z, w, l, h, r
+  int tid = threadIdx.x + blockIdx.x * blockDim.x;
+  //sigmoid funciton
+  float score = 1/(1+expf(-cls_preds[tid]));
+  if(anchor_mask[tid] == 1 && score > score_threshold)
+  {
+    int counter = atomicAdd(filter_count, 1);
+    float za = dev_anchors_pz[tid] + dev_anchors_dz[tid]/2;
+
+    //decode network output
+    float diagonal = sqrtf(dev_anchors_dx[tid]*dev_anchors_dx[tid] + dev_anchors_dy[tid]*dev_anchors_dy[tid]);
+    float box_px = box_preds[tid*NUM_OUTPUT_BOX_FEATURE + 0] * diagonal + dev_anchors_px[tid];
+    float box_py = box_preds[tid*NUM_OUTPUT_BOX_FEATURE + 1] * diagonal + dev_anchors_py[tid];
+    float box_pz = box_preds[tid*NUM_OUTPUT_BOX_FEATURE + 2] * dev_anchors_dz[tid] + za;
+    float box_dx = expf(box_preds[tid*NUM_OUTPUT_BOX_FEATURE + 3]) * dev_anchors_dx[tid];
+    float box_dy = expf(box_preds[tid*NUM_OUTPUT_BOX_FEATURE + 4]) * dev_anchors_dy[tid];
+    float box_dz = expf(box_preds[tid*NUM_OUTPUT_BOX_FEATURE + 5]) * dev_anchors_dz[tid];
+    float box_ro = box_preds[tid*NUM_OUTPUT_BOX_FEATURE + 6] + dev_anchors_ro[tid];
+
+    box_pz = box_pz - box_dz/2;
+
+    filtered_box[counter*NUM_OUTPUT_BOX_FEATURE + 0] = box_px;
+    filtered_box[counter*NUM_OUTPUT_BOX_FEATURE + 1] = box_py;
+    filtered_box[counter*NUM_OUTPUT_BOX_FEATURE + 2] = box_pz;
+    filtered_box[counter*NUM_OUTPUT_BOX_FEATURE + 3] = box_dx;
+    filtered_box[counter*NUM_OUTPUT_BOX_FEATURE + 4] = box_dy;
+    filtered_box[counter*NUM_OUTPUT_BOX_FEATURE + 5] = box_dz;
+    filtered_box[counter*NUM_OUTPUT_BOX_FEATURE + 6] = box_ro;
+    filtered_score[counter] = score;
+
+    int direction_label;
+    if(dir_preds[tid*2 + 0] < dir_preds[tid*2 + 1])
+    {
+      direction_label = 1;
+    }
+    else
+    {
+      direction_label = 0;
+    }
+    filtered_dir[counter] = direction_label;
+
+    //convrt normal box(normal boxes: x, y, z, w, l, h, r) to box(xmin, ymin, xmax, ymax) for nms calculation
+    //First: dx, dy -> box(x0y0, x0y1, x1y0, x1y1)
+    float corners[NUM_3D_BOX_CORNERS_MACRO] = {float(-0.5*box_dx), float(-0.5*box_dy),
+                                        float(-0.5*box_dx), float( 0.5*box_dy),
+                                        float( 0.5*box_dx), float( 0.5*box_dy),
+                                        float( 0.5*box_dx), float(-0.5*box_dy)};
+
+    //Second: Rotate, Offset and convert to point(xmin. ymin, xmax, ymax)
+    float rotated_corners[NUM_3D_BOX_CORNERS_MACRO];
+    float offset_corners[NUM_3D_BOX_CORNERS_MACRO];
+    float sin_yaw = sinf(box_ro);
+    float cos_yaw = cosf(box_ro);
+    float xmin = FLOAT_MAX;
+    float ymin = FLOAT_MAX;
+    float xmax = FLOAT_MIN;
+    float ymax = FLOAT_MIN;
+    for(size_t i = 0; i < NUM_BOX_CORNERS; i++)
+    {
+      rotated_corners[i*2 + 0] = cos_yaw*corners[i*2 + 0] - sin_yaw*corners[i*2 + 1];
+      rotated_corners[i*2 + 1] = sin_yaw*corners[i*2 + 0] + cos_yaw*corners[i*2 + 1];
+
+      offset_corners[i*2 + 0] = rotated_corners[i*2 + 0] + box_px;
+      offset_corners[i*2 + 1] = rotated_corners[i*2 + 1] + box_py;
+
+      xmin = fminf(xmin, offset_corners[i*2 + 0]);
+      ymin = fminf(ymin, offset_corners[i*2 + 1]);
+      xmax = fmaxf(xmin, offset_corners[i*2 + 0]);
+      ymax = fmaxf(ymax, offset_corners[i*2 + 1]);
+    }
+    // box_for_nms(num_box, 4)
+    box_for_nms[counter*NUM_BOX_CORNERS + 0] = xmin;
+    box_for_nms[counter*NUM_BOX_CORNERS + 1] = ymin;
+    box_for_nms[counter*NUM_BOX_CORNERS + 2] = xmax;
+    box_for_nms[counter*NUM_BOX_CORNERS + 3] = ymax;
+
+  }
+}
+
+__global__ void sort_boxes_by_indexes_kernel(float* filtered_box, int* filtered_dir, float* box_for_nms, int* indexes, int filter_count,
+                                             float* sorted_filtered_boxes, int* sorted_filtered_dir, float* sorted_box_for_nms,
+                                             const int NUM_BOX_CORNERS, const int NUM_OUTPUT_BOX_FEATURE)
+{
+  int tid = threadIdx.x + blockIdx.x * blockDim.x;
+  if(tid < filter_count)
+  {
+    int sort_index = indexes[tid];
+    sorted_filtered_boxes[tid*NUM_OUTPUT_BOX_FEATURE + 0] = filtered_box[sort_index*NUM_OUTPUT_BOX_FEATURE + 0];
+    sorted_filtered_boxes[tid*NUM_OUTPUT_BOX_FEATURE + 1] = filtered_box[sort_index*NUM_OUTPUT_BOX_FEATURE + 1];
+    sorted_filtered_boxes[tid*NUM_OUTPUT_BOX_FEATURE + 2] = filtered_box[sort_index*NUM_OUTPUT_BOX_FEATURE + 2];
+    sorted_filtered_boxes[tid*NUM_OUTPUT_BOX_FEATURE + 3] = filtered_box[sort_index*NUM_OUTPUT_BOX_FEATURE + 3];
+    sorted_filtered_boxes[tid*NUM_OUTPUT_BOX_FEATURE + 4] = filtered_box[sort_index*NUM_OUTPUT_BOX_FEATURE + 4];
+    sorted_filtered_boxes[tid*NUM_OUTPUT_BOX_FEATURE + 5] = filtered_box[sort_index*NUM_OUTPUT_BOX_FEATURE + 5];
+    sorted_filtered_boxes[tid*NUM_OUTPUT_BOX_FEATURE + 6] = filtered_box[sort_index*NUM_OUTPUT_BOX_FEATURE + 6];
+
+    sorted_filtered_dir[tid] = filtered_dir[sort_index];
+
+
+    sorted_box_for_nms[tid*NUM_BOX_CORNERS + 0] = box_for_nms[sort_index*NUM_BOX_CORNERS + 0];
+    sorted_box_for_nms[tid*NUM_BOX_CORNERS + 1] = box_for_nms[sort_index*NUM_BOX_CORNERS + 1];
+    sorted_box_for_nms[tid*NUM_BOX_CORNERS + 2] = box_for_nms[sort_index*NUM_BOX_CORNERS + 2];
+    sorted_box_for_nms[tid*NUM_BOX_CORNERS + 3] = box_for_nms[sort_index*NUM_BOX_CORNERS + 3];
+  }
+}
+
+PostprocessCuda::PostprocessCuda(const float FLOAT_MIN, const float FLOAT_MAX,
+  const int NUM_ANCHOR_X_INDS, const int NUM_ANCHOR_Y_INDS, const int NUM_ANCHOR_R_INDS,
+  const float score_threshold, const int NUM_THREADS, const float nms_overlap_threshold,
+  const int NUM_BOX_CORNERS, const int NUM_OUTPUT_BOX_FEATURE):
+FLOAT_MIN_(FLOAT_MIN),
+FLOAT_MAX_(FLOAT_MAX),
+NUM_ANCHOR_X_INDS_(NUM_ANCHOR_X_INDS),
+NUM_ANCHOR_Y_INDS_(NUM_ANCHOR_Y_INDS),
+NUM_ANCHOR_R_INDS_(NUM_ANCHOR_R_INDS),
+score_threshold_(score_threshold),
+NUM_THREADS_(NUM_THREADS),
+nms_overlap_threshold_(nms_overlap_threshold),
+NUM_BOX_CORNERS_(NUM_BOX_CORNERS),
+NUM_OUTPUT_BOX_FEATURE_(NUM_OUTPUT_BOX_FEATURE)
+{
+  nms_cuda_ptr_.reset(new NMSCuda(
+    NUM_THREADS,
+    NUM_BOX_CORNERS,
+    nms_overlap_threshold));
+}
+
+void PostprocessCuda::doPostprocessCuda(const float* rpn_box_output, const float* rpn_cls_output, const float* rpn_dir_output,
+        int* dev_anchor_mask, const float* dev_anchors_px, const float* dev_anchors_py, const float* dev_anchors_pz,
+        const float* dev_anchors_dx, const float* dev_anchors_dy, const float* dev_anchors_dz, const float* dev_anchors_ro,
+        float* dev_filtered_box, float* dev_filtered_score, int* dev_filtered_dir, float* dev_box_for_nms, int* dev_filter_count,
+        std::vector<float>& out_detection)
+{
+
+  filter_kernel<<<NUM_ANCHOR_X_INDS_*NUM_ANCHOR_R_INDS_, NUM_ANCHOR_Y_INDS_>>>
+                                (rpn_box_output, rpn_cls_output, rpn_dir_output, dev_anchor_mask,
+                                dev_anchors_px, dev_anchors_py, dev_anchors_pz,
+                                dev_anchors_dx, dev_anchors_dy, dev_anchors_dz, dev_anchors_ro,
+                                dev_filtered_box, dev_filtered_score, dev_filtered_dir, dev_box_for_nms, dev_filter_count,
+                                FLOAT_MIN_, FLOAT_MAX_, score_threshold_,
+                                NUM_BOX_CORNERS_, NUM_OUTPUT_BOX_FEATURE_);
+
+  int host_filter_count[1];
+  GPU_CHECK( cudaMemcpy(host_filter_count, dev_filter_count, sizeof(int), cudaMemcpyDeviceToHost ) );
+  if(host_filter_count[0] == 0)
+  {
+    return;
+  }
+
+  int* dev_indexes;
+  float* dev_sorted_filtered_box,  *dev_sorted_box_for_nms;
+  int* dev_sorted_filtered_dir;
+  GPU_CHECK(cudaMalloc((void**)&dev_indexes, host_filter_count[0]*sizeof(int)));
+  GPU_CHECK(cudaMalloc((void**)&dev_sorted_filtered_box, NUM_OUTPUT_BOX_FEATURE_*host_filter_count[0]*sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_sorted_filtered_dir, host_filter_count[0]*sizeof(int)));
+  GPU_CHECK(cudaMalloc((void**)&dev_sorted_box_for_nms, NUM_BOX_CORNERS_*host_filter_count[0]*sizeof(float)));
+  thrust::sequence(thrust::device, dev_indexes, dev_indexes + host_filter_count[0]);
+  thrust::sort_by_key(thrust::device, dev_filtered_score, dev_filtered_score + size_t(host_filter_count[0]), dev_indexes, thrust::greater<float>());
+
+
+  const int num_blocks = DIVUP(host_filter_count[0], NUM_THREADS_);
+  sort_boxes_by_indexes_kernel<<<num_blocks, NUM_THREADS_>>>(dev_filtered_box, dev_filtered_dir, dev_box_for_nms, dev_indexes, host_filter_count[0],
+                                                              dev_sorted_filtered_box, dev_sorted_filtered_dir, dev_sorted_box_for_nms,
+                                                              NUM_BOX_CORNERS_, NUM_OUTPUT_BOX_FEATURE_);
+
+  int keep_inds[host_filter_count[0]] = {0};
+  int out_num_objects = 0;
+  nms_cuda_ptr_->doNMSCuda(host_filter_count[0], dev_sorted_box_for_nms, keep_inds, out_num_objects);
+
+
+  float host_filtered_box[host_filter_count[0]*NUM_OUTPUT_BOX_FEATURE_];
+  int host_filtered_dir[host_filter_count[0]];
+  GPU_CHECK( cudaMemcpy(host_filtered_box, dev_sorted_filtered_box, NUM_OUTPUT_BOX_FEATURE_*host_filter_count[0] *sizeof(float), cudaMemcpyDeviceToHost ) );
+  GPU_CHECK( cudaMemcpy(host_filtered_dir, dev_sorted_filtered_dir,                        host_filter_count[0] *sizeof(int), cudaMemcpyDeviceToHost ) );
+  for (size_t i = 0; i < out_num_objects; i++)
+  {
+    out_detection.push_back(host_filtered_box[keep_inds[i]*NUM_OUTPUT_BOX_FEATURE_+0]);
+    out_detection.push_back(host_filtered_box[keep_inds[i]*NUM_OUTPUT_BOX_FEATURE_+1]);
+    out_detection.push_back(host_filtered_box[keep_inds[i]*NUM_OUTPUT_BOX_FEATURE_+2]);
+    out_detection.push_back(host_filtered_box[keep_inds[i]*NUM_OUTPUT_BOX_FEATURE_+3]);
+    out_detection.push_back(host_filtered_box[keep_inds[i]*NUM_OUTPUT_BOX_FEATURE_+4]);
+    out_detection.push_back(host_filtered_box[keep_inds[i]*NUM_OUTPUT_BOX_FEATURE_+5]);
+
+    if(host_filtered_dir[keep_inds[i]] == 0)
+    {
+      out_detection.push_back(host_filtered_box[keep_inds[i]*NUM_OUTPUT_BOX_FEATURE_+6] + M_PI);
+    }
+    else
+    {
+      out_detection.push_back(host_filtered_box[keep_inds[i]*NUM_OUTPUT_BOX_FEATURE_+6]);
+    }
+  }
+
+  GPU_CHECK(cudaFree(dev_indexes));
+  GPU_CHECK(cudaFree(dev_sorted_filtered_box));
+  GPU_CHECK(cudaFree(dev_sorted_filtered_dir));
+  GPU_CHECK(cudaFree(dev_sorted_box_for_nms));
+}
diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points.cpp
new file mode 100644
index 00000000000..82b6fd46d68
--- /dev/null
+++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points.cpp
@@ -0,0 +1,153 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+// headers in STL
+#include <cmath>
+#include <iostream>
+
+// headers in local files
+#include "lidar_point_pillars/preprocess_points.h"
+
+PreprocessPoints::PreprocessPoints(const int MAX_NUM_PILLARS, const int MAX_POINTS_PER_PILLAR, const int GRID_X_SIZE,
+                                   const int GRID_Y_SIZE, const int GRID_Z_SIZE, const float PILLAR_X_SIZE,
+                                   const float PILLAR_Y_SIZE, const float PILLAR_Z_SIZE, const float MIN_X_RANGE,
+                                   const float MIN_Y_RANGE, const float MIN_Z_RANGE, const int NUM_INDS_FOR_SCAN,
+                                   const int NUM_BOX_CORNERS)
+  : MAX_NUM_PILLARS_(MAX_NUM_PILLARS)
+  , MAX_NUM_POINTS_PER_PILLAR_(MAX_POINTS_PER_PILLAR)
+  , GRID_X_SIZE_(GRID_X_SIZE)
+  , GRID_Y_SIZE_(GRID_Y_SIZE)
+  , GRID_Z_SIZE_(GRID_Z_SIZE)
+  , PILLAR_X_SIZE_(PILLAR_X_SIZE)
+  , PILLAR_Y_SIZE_(PILLAR_Y_SIZE)
+  , PILLAR_Z_SIZE_(PILLAR_Z_SIZE)
+  , MIN_X_RANGE_(MIN_X_RANGE)
+  , MIN_Y_RANGE_(MIN_Y_RANGE)
+  , MIN_Z_RANGE_(MIN_Z_RANGE)
+  , NUM_INDS_FOR_SCAN_(NUM_INDS_FOR_SCAN)
+  , NUM_BOX_CORNERS_(NUM_BOX_CORNERS)
+{
+}
+
+void PreprocessPoints::initializeVariables(int* coor_to_pillaridx, float* sparse_pillar_map, float* pillar_x,
+                                           float* pillar_y, float* pillar_z, float* pillar_i,
+                                           float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped)
+{
+  for (int i = 0; i < GRID_Y_SIZE_; i++)
+  {
+    for (int j = 0; j < GRID_X_SIZE_; j++)
+    {
+      coor_to_pillaridx[i * GRID_X_SIZE_ + j] = -1;
+    }
+  }
+
+  for (int i = 0; i < NUM_INDS_FOR_SCAN_; i++)
+  {
+    for (int j = 0; j < NUM_INDS_FOR_SCAN_; j++)
+    {
+      sparse_pillar_map[i * NUM_INDS_FOR_SCAN_ + j] = 0;
+    }
+  }
+
+  for (int i = 0; i < MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_; i++)
+  {
+    pillar_x[i] = 0;
+    pillar_y[i] = 0;
+    pillar_z[i] = 0;
+    pillar_i[i] = 0;
+    x_coors_for_sub_shaped[i] = 0;
+    y_coors_for_sub_shaped[i] = 0;
+  }
+}
+
+void PreprocessPoints::preprocess(const float* in_points_array, int in_num_points, int* x_coors, int* y_coors,
+                                  float* num_points_per_pillar, float* pillar_x, float* pillar_y, float* pillar_z,
+                                  float* pillar_i, float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped,
+                                  float* pillar_feature_mask, float* sparse_pillar_map, int* host_pillar_count)
+{
+  int pillar_count = 0;
+  float x_coors_for_sub[MAX_NUM_PILLARS_] = { 0 };
+  float y_coors_for_sub[MAX_NUM_PILLARS_] = { 0 };
+  // init variables
+  int coor_to_pillaridx[GRID_Y_SIZE_ * GRID_X_SIZE_];
+  initializeVariables(coor_to_pillaridx, sparse_pillar_map, pillar_x, pillar_y, pillar_z, pillar_i,
+                      x_coors_for_sub_shaped, y_coors_for_sub_shaped);
+  for (int i = 0; i < in_num_points; i++)
+  {
+    int x_coor = std::floor((in_points_array[i * NUM_BOX_CORNERS_ + 0] - MIN_X_RANGE_) / PILLAR_X_SIZE_);
+    int y_coor = std::floor((in_points_array[i * NUM_BOX_CORNERS_ + 1] - MIN_Y_RANGE_) / PILLAR_Y_SIZE_);
+    int z_coor = std::floor((in_points_array[i * NUM_BOX_CORNERS_ + 2] - MIN_Z_RANGE_) / PILLAR_Z_SIZE_);
+    if (x_coor < 0 || x_coor >= GRID_X_SIZE_ || y_coor < 0 || y_coor >= GRID_Y_SIZE_ || z_coor < 0 ||
+        z_coor >= GRID_Z_SIZE_)
+    {
+      continue;
+    }
+    // reverse index
+    int pillar_index = coor_to_pillaridx[y_coor * GRID_X_SIZE_ + x_coor];
+    if (pillar_index == -1)
+    {
+      pillar_index = pillar_count;
+      if (pillar_count >= MAX_NUM_PILLARS_)
+      {
+        break;
+      }
+      pillar_count += 1;
+      coor_to_pillaridx[y_coor * GRID_X_SIZE_ + x_coor] = pillar_index;
+
+      y_coors[pillar_index] = std::floor(y_coor);
+      x_coors[pillar_index] = std::floor(x_coor);
+
+      // float y_offset = PILLAR_Y_SIZE_/ 2 + MIN_Y_RANGE_;
+      // float x_offset = PILLAR_X_SIZE_/ 2 + MIN_X_RANGE_;
+      // TODO Need to be modified after proper trining code
+      // Will be modified in ver 1.1
+      y_coors_for_sub[pillar_index] = std::floor(y_coor) * PILLAR_Y_SIZE_ + -39.9f;
+      x_coors_for_sub[pillar_index] = std::floor(x_coor) * PILLAR_X_SIZE_ + 0.1f;
+
+      sparse_pillar_map[y_coor * NUM_INDS_FOR_SCAN_ + x_coor] = 1;
+    }
+    int num = num_points_per_pillar[pillar_index];
+    if (num < MAX_NUM_POINTS_PER_PILLAR_)
+    {
+      pillar_x[pillar_index * MAX_NUM_POINTS_PER_PILLAR_ + num] = in_points_array[i * NUM_BOX_CORNERS_ + 0];
+      pillar_y[pillar_index * MAX_NUM_POINTS_PER_PILLAR_ + num] = in_points_array[i * NUM_BOX_CORNERS_ + 1];
+      pillar_z[pillar_index * MAX_NUM_POINTS_PER_PILLAR_ + num] = in_points_array[i * NUM_BOX_CORNERS_ + 2];
+      pillar_i[pillar_index * MAX_NUM_POINTS_PER_PILLAR_ + num] = in_points_array[i * NUM_BOX_CORNERS_ + 3];
+      num_points_per_pillar[pillar_index] += 1;
+    }
+  }
+
+  for (int i = 0; i < MAX_NUM_PILLARS_; i++)
+  {
+    float x = x_coors_for_sub[i];
+    float y = y_coors_for_sub[i];
+    int num_points_for_a_pillar = num_points_per_pillar[i];
+    for (int j = 0; j < MAX_NUM_POINTS_PER_PILLAR_; j++)
+    {
+      x_coors_for_sub_shaped[i * MAX_NUM_POINTS_PER_PILLAR_ + j] = x;
+      y_coors_for_sub_shaped[i * MAX_NUM_POINTS_PER_PILLAR_ + j] = y;
+      if (j < num_points_for_a_pillar)
+      {
+        pillar_feature_mask[i * MAX_NUM_POINTS_PER_PILLAR_ + j] = 1.0f;
+      }
+      else
+      {
+        pillar_feature_mask[i * MAX_NUM_POINTS_PER_PILLAR_ + j] = 0.0f;
+      }
+    }
+  }
+  host_pillar_count[0] = pillar_count;
+}
diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points_cuda.cu b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points_cuda.cu
new file mode 100644
index 00000000000..343f30ccea1
--- /dev/null
+++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points_cuda.cu
@@ -0,0 +1,317 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+//headers in STL
+#include <iostream>
+
+//headers in local files
+#include "lidar_point_pillars/common.h"
+#include "lidar_point_pillars/preprocess_points_cuda.h"
+
+__global__ void make_pillar_histo_kernel(
+                                     const float* dev_points,
+                                     float* dev_pillar_x_in_coors,
+                                     float* dev_pillar_y_in_coors,
+                                     float* dev_pillar_z_in_coors,
+                                     float* dev_pillar_i_in_coors,
+                                     int* pillar_count_histo,
+                                     const int num_points,
+                                     const int max_points_per_pillar,
+                                     const int GRID_X_SIZE,
+                                     const int GRID_Y_SIZE,
+                                     const int GRID_Z_SIZE,
+                                     const float MIN_X_RANGE,
+                                     const float MIN_Y_RANGE,
+                                     const float MIN_Z_RANGE,
+                                     const float PILLAR_X_SIZE,
+                                     const float PILLAR_Y_SIZE,
+                                     const float PILLAR_Z_SIZE,
+                                     const int NUM_BOX_CORNERS
+                                   )
+{
+  int th_i = threadIdx.x + blockIdx.x * blockDim.x;
+  if(th_i >= num_points)
+  {
+    return;
+  }
+  int y_coor = floor((dev_points[th_i*NUM_BOX_CORNERS + 1] - MIN_Y_RANGE)/PILLAR_Y_SIZE);
+  int x_coor = floor((dev_points[th_i*NUM_BOX_CORNERS + 0] - MIN_X_RANGE)/PILLAR_X_SIZE);
+  int z_coor = floor((dev_points[th_i*NUM_BOX_CORNERS + 2] - MIN_Z_RANGE)/PILLAR_Z_SIZE);
+
+  if(x_coor >= 0 && x_coor < GRID_X_SIZE &&
+     y_coor >= 0 && y_coor < GRID_Y_SIZE &&
+     z_coor >= 0 && z_coor < GRID_Z_SIZE)
+  {
+    int count = atomicAdd(&pillar_count_histo[y_coor*GRID_X_SIZE + x_coor], 1);
+    if(count < max_points_per_pillar)
+    {
+      int ind = y_coor*GRID_X_SIZE*max_points_per_pillar + x_coor*max_points_per_pillar + count;
+      dev_pillar_x_in_coors[ind] = dev_points[th_i*NUM_BOX_CORNERS + 0];
+      dev_pillar_y_in_coors[ind] = dev_points[th_i*NUM_BOX_CORNERS + 1];
+      dev_pillar_z_in_coors[ind] = dev_points[th_i*NUM_BOX_CORNERS + 2];
+      dev_pillar_i_in_coors[ind] = dev_points[th_i*NUM_BOX_CORNERS + 3];
+    }
+  }
+}
+
+
+__global__ void make_pillar_index_kernel(
+                                               int* dev_pillar_count_histo,
+                                               int* dev_counter,
+                                               int* dev_pillar_count,
+                                               int* dev_x_coors,
+                                               int* dev_y_coors,
+                                               float* dev_x_coors_for_sub,
+                                               float* dev_y_coors_for_sub,
+                                               float* dev_num_points_per_pillar,
+                                               int* dev_sparse_pillar_map,
+                                               const int max_pillars,
+                                               const int max_points_per_pillar,
+                                               const int GRID_X_SIZE,
+                                               const float PILLAR_X_SIZE,
+                                               const float PILLAR_Y_SIZE,
+                                               const int NUM_INDS_FOR_SCAN)
+{
+  int x = blockIdx.x;
+  int y = threadIdx.x;
+  int num_points_at_this_pillar = dev_pillar_count_histo[y*GRID_X_SIZE + x];
+  if(num_points_at_this_pillar == 0)
+  {
+    return;
+  }
+
+  int count = atomicAdd(dev_counter, 1);
+  if(count < max_pillars)
+  {
+    atomicAdd(dev_pillar_count, 1);
+    if(num_points_at_this_pillar >= max_points_per_pillar)
+    {
+      dev_num_points_per_pillar[count] = max_points_per_pillar;
+    }
+    else
+    {
+      dev_num_points_per_pillar[count] = num_points_at_this_pillar;
+    }
+    dev_x_coors[count] = x;
+    dev_y_coors[count] = y;
+
+    //TODO Need to be modified after making properly trained weight
+    // Will be modified in ver 1.1
+    // x_offset = self.vx / 2 + pc_range[0]
+    // y_offset = self.vy / 2 + pc_range[1]
+    // x_sub = coors_x.unsqueeze(1) * 0.16 + x_offset
+    // y_sub = coors_y.unsqueeze(1) * 0.16 + y_offset
+    dev_x_coors_for_sub[count] =  x*  PILLAR_X_SIZE + 0.1f;
+    dev_y_coors_for_sub[count] =  y*  PILLAR_Y_SIZE + -39.9f;
+    dev_sparse_pillar_map[y*NUM_INDS_FOR_SCAN + x] = 1;
+  }
+}
+
+
+__global__ void make_pillar_feature_kernel(
+                                          float* dev_pillar_x_in_coors,
+                                          float* dev_pillar_y_in_coors,
+                                          float* dev_pillar_z_in_coors,
+                                          float* dev_pillar_i_in_coors,
+                                          float* dev_pillar_x,
+                                          float* dev_pillar_y,
+                                          float* dev_pillar_z,
+                                          float* dev_pillar_i,
+                                          int* dev_x_coors,
+                                          int* dev_y_coors,
+                                          float* dev_num_points_per_pillar,
+                                          const int max_points,
+                                          const int GRID_X_SIZE)
+{
+  int ith_pillar = blockIdx.x;
+  int num_points_at_this_pillar = dev_num_points_per_pillar[ith_pillar];
+  int ith_point = threadIdx.x;
+  if(ith_point >= num_points_at_this_pillar)
+  {
+    return;
+  }
+  int x_ind = dev_x_coors[ith_pillar];
+  int y_ind = dev_y_coors[ith_pillar];
+  int pillar_ind = ith_pillar*max_points + ith_point;
+  int coors_ind = y_ind*GRID_X_SIZE*max_points + x_ind*max_points + ith_point;
+  dev_pillar_x[pillar_ind] = dev_pillar_x_in_coors[coors_ind];
+  dev_pillar_y[pillar_ind] = dev_pillar_y_in_coors[coors_ind];
+  dev_pillar_z[pillar_ind] = dev_pillar_z_in_coors[coors_ind];
+  dev_pillar_i[pillar_ind] = dev_pillar_i_in_coors[coors_ind];
+}
+
+__global__ void make_extra_network_input_kernel(float* dev_x_coors_for_sub,
+                                               float* dev_y_coors_for_sub,
+                                               float* dev_num_points_per_pillar,
+                                               float* dev_x_coors_for_sub_shaped,
+                                               float* dev_y_coors_for_sub_shaped,
+                                               float* dev_pillar_feature_mask,
+                                               const int MAX_NUM_POINTS_PER_PILLAR)
+{
+  int ith_pillar = blockIdx.x;
+  int ith_point = threadIdx.x;
+  float x = dev_x_coors_for_sub[ith_pillar];
+  float y = dev_y_coors_for_sub[ith_pillar];
+  int num_points_for_a_pillar = dev_num_points_per_pillar[ith_pillar];
+  int ind = ith_pillar*MAX_NUM_POINTS_PER_PILLAR + ith_point;
+  dev_x_coors_for_sub_shaped[ind] = x;
+  dev_y_coors_for_sub_shaped[ind] = y;
+
+  if(ith_point < num_points_for_a_pillar)
+  {
+    dev_pillar_feature_mask[ind] = 1.0;
+  }
+  else
+  {
+    dev_pillar_feature_mask[ind] = 0.0;
+  }
+}
+
+
+
+
+PreprocessPointsCuda::PreprocessPointsCuda(const int NUM_THREADS,
+                                           const int MAX_NUM_PILLARS,
+                                           const int MAX_POINTS_PER_PILLAR,
+                                           const int NUM_INDS_FOR_SCAN,
+                                           const int GRID_X_SIZE,
+                                           const int GRID_Y_SIZE,
+                                           const int GRID_Z_SIZE,
+                                           const float PILLAR_X_SIZE,
+                                           const float PILLAR_Y_SIZE,
+                                           const float PILLAR_Z_SIZE,
+                                           const float MIN_X_RANGE,
+                                           const float MIN_Y_RANGE,
+                                           const float MIN_Z_RANGE,
+                                           const int NUM_BOX_CORNERS)
+:
+NUM_THREADS_(NUM_THREADS),
+MAX_NUM_PILLARS_(MAX_NUM_PILLARS),
+MAX_NUM_POINTS_PER_PILLAR_(MAX_POINTS_PER_PILLAR),
+NUM_INDS_FOR_SCAN_(NUM_INDS_FOR_SCAN),
+GRID_X_SIZE_(GRID_X_SIZE),
+GRID_Y_SIZE_(GRID_Y_SIZE),
+GRID_Z_SIZE_(GRID_Z_SIZE),
+PILLAR_X_SIZE_(PILLAR_X_SIZE),
+PILLAR_Y_SIZE_(PILLAR_Y_SIZE),
+PILLAR_Z_SIZE_(PILLAR_Z_SIZE),
+MIN_X_RANGE_(MIN_X_RANGE),
+MIN_Y_RANGE_(MIN_Y_RANGE),
+MIN_Z_RANGE_(MIN_Z_RANGE),
+NUM_BOX_CORNERS_(NUM_BOX_CORNERS)
+{
+  GPU_CHECK(cudaMalloc((void**)&dev_pillar_x_in_coors_, GRID_Y_SIZE_*GRID_X_SIZE_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_pillar_y_in_coors_, GRID_Y_SIZE_*GRID_X_SIZE_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_pillar_z_in_coors_, GRID_Y_SIZE_*GRID_X_SIZE_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_pillar_i_in_coors_, GRID_Y_SIZE_*GRID_X_SIZE_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_pillar_count_histo_, GRID_Y_SIZE_*GRID_X_SIZE_*sizeof(int)));
+
+  GPU_CHECK(cudaMalloc((void**)&dev_counter_, sizeof(int)));
+  GPU_CHECK(cudaMalloc((void**)&dev_pillar_count_, sizeof(int)));
+  GPU_CHECK(cudaMalloc((void**)&dev_x_coors_for_sub_, MAX_NUM_PILLARS_* sizeof(float)));
+  GPU_CHECK(cudaMalloc((void**)&dev_y_coors_for_sub_, MAX_NUM_PILLARS_* sizeof(float)));
+}
+
+PreprocessPointsCuda::~PreprocessPointsCuda()
+{
+  GPU_CHECK(cudaFree(dev_pillar_x_in_coors_));
+  GPU_CHECK(cudaFree(dev_pillar_y_in_coors_));
+  GPU_CHECK(cudaFree(dev_pillar_z_in_coors_));
+  GPU_CHECK(cudaFree(dev_pillar_i_in_coors_));
+  GPU_CHECK(cudaFree(dev_pillar_count_histo_));
+
+  GPU_CHECK(cudaFree(dev_counter_));
+  GPU_CHECK(cudaFree(dev_pillar_count_));
+  GPU_CHECK(cudaFree(dev_x_coors_for_sub_));
+  GPU_CHECK(cudaFree(dev_y_coors_for_sub_));
+
+}
+
+void PreprocessPointsCuda::doPreprocessPointsCuda(const float* dev_points, const int in_num_points, int* dev_x_coors, int* dev_y_coors,
+                    float* dev_num_points_per_pillar, float* dev_pillar_x, float* dev_pillar_y, float* dev_pillar_z, float* dev_pillar_i,
+                    float* dev_x_coors_for_sub_shaped, float* dev_y_coors_for_sub_shaped,
+                    float* dev_pillar_feature_mask, int* dev_sparse_pillar_map, int* host_pillar_count)
+{
+
+  GPU_CHECK(cudaMemset(dev_pillar_count_histo_, 0, GRID_Y_SIZE_*GRID_X_SIZE_*sizeof(int)));
+  GPU_CHECK(cudaMemset(dev_counter_, 0, sizeof(int)));
+  GPU_CHECK(cudaMemset(dev_pillar_count_, 0, sizeof(int)));
+
+  int num_block = DIVUP(in_num_points, NUM_THREADS_);
+  make_pillar_histo_kernel<<<num_block, NUM_THREADS_>>>(
+                                        dev_points,
+                                        dev_pillar_x_in_coors_,
+                                        dev_pillar_y_in_coors_,
+                                        dev_pillar_z_in_coors_,
+                                        dev_pillar_i_in_coors_,
+                                        dev_pillar_count_histo_,
+                                        in_num_points,
+                                        MAX_NUM_POINTS_PER_PILLAR_,
+                                        GRID_X_SIZE_,
+                                        GRID_Y_SIZE_,
+                                        GRID_Z_SIZE_,
+                                        MIN_X_RANGE_,
+                                        MIN_Y_RANGE_,
+                                        MIN_Z_RANGE_,
+                                        PILLAR_X_SIZE_,
+                                        PILLAR_Y_SIZE_,
+                                        PILLAR_Z_SIZE_,
+                                        NUM_BOX_CORNERS_);
+
+
+  make_pillar_index_kernel<<<GRID_X_SIZE_, GRID_Y_SIZE_>>>(
+                                         dev_pillar_count_histo_,
+                                         dev_counter_,
+                                         dev_pillar_count_,
+                                         dev_x_coors,
+                                         dev_y_coors,
+                                         dev_x_coors_for_sub_,
+                                         dev_y_coors_for_sub_,
+                                         dev_num_points_per_pillar,
+                                         dev_sparse_pillar_map,
+                                         MAX_NUM_PILLARS_,
+                                         MAX_NUM_POINTS_PER_PILLAR_,
+                                         GRID_X_SIZE_,
+                                         PILLAR_X_SIZE_,
+                                         PILLAR_Y_SIZE_,
+                                         NUM_INDS_FOR_SCAN_);
+
+  GPU_CHECK(cudaMemcpy(host_pillar_count, dev_pillar_count_, sizeof(int), cudaMemcpyDeviceToHost ) );
+  make_pillar_feature_kernel<<<host_pillar_count[0], MAX_NUM_POINTS_PER_PILLAR_>>>(
+                                                                 dev_pillar_x_in_coors_,
+                                                                 dev_pillar_y_in_coors_,
+                                                                 dev_pillar_z_in_coors_,
+                                                                 dev_pillar_i_in_coors_,
+                                                                 dev_pillar_x,
+                                                                 dev_pillar_y,
+                                                                 dev_pillar_z,
+                                                                 dev_pillar_i,
+                                                                 dev_x_coors,
+                                                                 dev_y_coors,
+                                                                 dev_num_points_per_pillar,
+                                                                 MAX_NUM_POINTS_PER_PILLAR_,
+                                                                 GRID_X_SIZE_);
+
+  make_extra_network_input_kernel<<<MAX_NUM_PILLARS_, MAX_NUM_POINTS_PER_PILLAR_>>>(
+                                dev_x_coors_for_sub_,
+                                dev_y_coors_for_sub_,
+                                dev_num_points_per_pillar,
+                                dev_x_coors_for_sub_shaped,
+                                dev_y_coors_for_sub_shaped,
+                                dev_pillar_feature_mask,
+                                MAX_NUM_POINTS_PER_PILLAR_);
+
+}
diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/scatter_cuda.cu b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/scatter_cuda.cu
new file mode 100644
index 00000000000..107e3de6e4a
--- /dev/null
+++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/scatter_cuda.cu
@@ -0,0 +1,43 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+//headers in local files
+#include "lidar_point_pillars/scatter_cuda.h"
+
+__global__ void scatter_kernel( int *x_coors, int *y_coors, float *pfe_output, float *scattered_feature,
+                                const int MAX_NUM_PILLARS_, const int GRID_X_SIZE, const int GRID_Y_SIZE)
+{
+    int i_pillar = blockIdx.x;
+    int i_feature = threadIdx.x;
+    int x_ind = x_coors[i_pillar];
+    int y_ind = y_coors[i_pillar];
+    float feature = pfe_output[i_feature*MAX_NUM_PILLARS_ + i_pillar];
+    scattered_feature[i_feature*GRID_Y_SIZE*GRID_X_SIZE + y_ind * GRID_X_SIZE + x_ind] = feature;
+}
+
+ScatterCuda::ScatterCuda(const int NUM_THREADS, const int MAX_NUM_PILLARS, const int GRID_X_SIZE, const int GRID_Y_SIZE):
+NUM_THREADS_(NUM_THREADS),
+MAX_NUM_PILLARS_(MAX_NUM_PILLARS),
+GRID_X_SIZE_(GRID_X_SIZE),
+GRID_Y_SIZE_(GRID_Y_SIZE)
+{
+}
+
+void ScatterCuda::doScatterCuda(const int pillar_count, int *x_coors, int *y_coors, float *pfe_output, float *scattered_feature)
+{
+  scatter_kernel<<<pillar_count, NUM_THREADS_>>>(x_coors, y_coors, pfe_output, scattered_feature,
+                                                MAX_NUM_PILLARS_, GRID_X_SIZE_, GRID_Y_SIZE_);
+}
diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/package.xml b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/package.xml
new file mode 100755
index 00000000000..8c937c49787
--- /dev/null
+++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/package.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package>
+    <name>lidar_point_pillars</name>
+    <version>1.10.0</version>
+    <description>lidar_point_pillars</description>
+
+    <maintainer email="cirpue49@yahoo.co.jp">Kosuke Murakami</maintainer>
+    <license>Apache 2.0</license>
+
+    <buildtool_depend>catkin</buildtool_depend>
+    <buildtool_depend>autoware_build_flags</buildtool_depend>
+
+    <build_depend>roscpp</build_depend>
+    <build_depend>roslib</build_depend>
+    <build_depend>pcl_ros</build_depend>
+    <build_depend>autoware_msgs</build_depend>
+
+
+    <run_depend>roscpp</run_depend>
+    <run_depend>roslib</run_depend>
+    <run_depend>pcl_ros</run_depend>
+    <run_depend>autoware_msgs</run_depend>
+
+    <export></export>
+</package>
diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/data/dummy.onnx b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/data/dummy.onnx
new file mode 100644
index 0000000000000000000000000000000000000000..1a24ae75cbe3920f6b833ea359bc0c01caeb044a
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diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp
new file mode 100644
index 00000000000..70b3a4fa0ae
--- /dev/null
+++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp
@@ -0,0 +1,404 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+* @file test_point_pillars.cpp
+* @brief unit test file
+* @author Kosuke Murakami
+* @date 2019/02/26
+*/
+
+// headers in ROS
+#include <ros/ros.h>
+#include <ros/package.h>
+
+// headers in gtest
+#include <gtest/gtest.h>
+
+//headers in PCL
+#include <pcl/io/pcd_io.h>
+#include <pcl/point_types.h>
+
+//headers in local files
+#include "lidar_point_pillars/point_pillars_ros.h"
+#include "lidar_point_pillars/preprocess_points.h"
+
+class TestSuite : public ::testing::Test
+{
+public:
+  TestSuite()
+  {
+  }
+  ~TestSuite()
+  {
+  }
+};
+
+class TestClass
+{
+public:
+  TestClass(const int MAX_NUM_PILLARS, const int MAX_NUM_POINTS_PER_PILLAR, const int GRID_X_SIZE,
+            const int GRID_Y_SIZE, const int GRID_Z_SIZE, const float PILLAR_X_SIZE, const float PILLAR_Y_SIZE,
+            const float PILLAR_Z_SIZE, const float MIN_X_RANGE, const float MIN_Y_RANGE, const float MIN_Z_RANGE,
+            const int NUM_INDS_FOR_SCAN, const int NUM_BOX_CORNERS);
+  const int MAX_NUM_PILLARS_;
+  const int MAX_NUM_POINTS_PER_PILLAR_;
+  const int GRID_X_SIZE_;
+  const int GRID_Y_SIZE_;
+  const int GRID_Z_SIZE_;
+  const float PILLAR_X_SIZE_;
+  const float PILLAR_Y_SIZE_;
+  const float PILLAR_Z_SIZE_;
+  const float MIN_X_RANGE_;
+  const float MIN_Y_RANGE_;
+  const float MIN_Z_RANGE_;
+  const int NUM_INDS_FOR_SCAN_;
+  const int NUM_BOX_CORNERS_;
+
+  // Make pointcloud for test
+  void makePointsForTest(pcl::PointCloud<pcl::PointXYZI>::Ptr in_pcl_pc_ptr);
+  void pclToArray(const pcl::PointCloud<pcl::PointXYZI>::Ptr& in_pcl_pc_ptr, float* out_points_array);
+  void preprocess(const float* in_points_array, int in_num_points, int* x_coors, int* y_coors,
+                  float* num_points_per_pillar, float* pillar_x, float* pillar_y, float* pillar_z, float* pillar_i,
+                  float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped, float* pillar_feature_mask,
+                  float* sparse_pillar_map, int* host_pillar_count);
+  void generateAnchors(float* anchors_px, float* anchors_py, float* anchors_pz, float* anchors_dx,
+                       float* anchors_dy, float* anchors_dz, float* anchors_ro);
+  void convertAnchors2BoxAnchors(float* anchors_px, float* anchors_py, float* anchors_dx, float* anchors_dy,
+                                 float* box_anchors_min_x, float* box_anchors_min_y,
+                                 float* box_anchors_max_x, float* box_anchors_max_y);
+
+private:
+  std::unique_ptr<PreprocessPoints> preprocess_points_ptr_;
+  std::unique_ptr<PointPillars> point_pillars_ptr_;
+};
+
+TestClass::TestClass(const int MAX_NUM_PILLARS, const int MAX_NUM_POINTS_PER_PILLAR, const int GRID_X_SIZE,
+                     const int GRID_Y_SIZE, const int GRID_Z_SIZE, const float PILLAR_X_SIZE, const float PILLAR_Y_SIZE,
+                     const float PILLAR_Z_SIZE, const float MIN_X_RANGE, const float MIN_Y_RANGE,
+                     const float MIN_Z_RANGE, const int NUM_INDS_FOR_SCAN, const int NUM_BOX_CORNERS)
+  : MAX_NUM_PILLARS_(MAX_NUM_PILLARS)
+  , MAX_NUM_POINTS_PER_PILLAR_(MAX_NUM_POINTS_PER_PILLAR)
+  , GRID_X_SIZE_(GRID_X_SIZE)
+  , GRID_Y_SIZE_(GRID_Y_SIZE)
+  , GRID_Z_SIZE_(GRID_Z_SIZE)
+  , PILLAR_X_SIZE_(PILLAR_X_SIZE)
+  , PILLAR_Y_SIZE_(PILLAR_Y_SIZE)
+  , PILLAR_Z_SIZE_(PILLAR_Z_SIZE)
+  , MIN_X_RANGE_(MIN_X_RANGE)
+  , MIN_Y_RANGE_(MIN_Y_RANGE)
+  , MIN_Z_RANGE_(MIN_Z_RANGE)
+  , NUM_INDS_FOR_SCAN_(NUM_INDS_FOR_SCAN)
+  , NUM_BOX_CORNERS_(NUM_BOX_CORNERS)
+{
+  preprocess_points_ptr_.reset(new PreprocessPoints(
+      MAX_NUM_PILLARS_, MAX_NUM_POINTS_PER_PILLAR_, GRID_X_SIZE_, GRID_Y_SIZE_, GRID_Z_SIZE_, PILLAR_X_SIZE_,
+      PILLAR_Y_SIZE_, PILLAR_Z_SIZE_, MIN_X_RANGE_, MIN_Y_RANGE_, MIN_Z_RANGE_, NUM_INDS_FOR_SCAN_, NUM_BOX_CORNERS_));
+
+  bool baselink_support=true;
+  bool reproduce_result_mode=false;
+  float score_threshold = 0.5;
+  float nms_overlap_threshold = 0.5;
+  std::string package_path = ros::package::getPath("lidar_point_pillars");
+  std::string onnx_path = package_path + "/test/data/dummy.onnx";
+  std::string pfe_onnx_file = onnx_path;
+  std::string rpn_onnx_file = onnx_path;
+
+  point_pillars_ptr_.reset(new PointPillars(reproduce_result_mode, score_threshold, nms_overlap_threshold,
+                                            pfe_onnx_file, rpn_onnx_file));
+};
+
+void TestClass::preprocess(const float* in_points_array, int in_num_points, int* x_coors, int* y_coors,
+                           float* num_points_per_pillar, float* pillar_x, float* pillar_y, float* pillar_z,
+                           float* pillar_i, float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped,
+                           float* pillar_feature_mask, float* sparse_pillar_map, int* host_pillar_count)
+{
+  preprocess_points_ptr_->preprocess(in_points_array, in_num_points, x_coors, y_coors, num_points_per_pillar, pillar_x,
+                                     pillar_y, pillar_z, pillar_i, x_coors_for_sub_shaped, y_coors_for_sub_shaped,
+                                     pillar_feature_mask, sparse_pillar_map, host_pillar_count);
+}
+
+void TestClass::pclToArray(const pcl::PointCloud<pcl::PointXYZI>::Ptr& in_pcl_pc_ptr, float* out_points_array)
+{
+  for (size_t i = 0; i < in_pcl_pc_ptr->size(); i++)
+  {
+    pcl::PointXYZI point = in_pcl_pc_ptr->at(i);
+    out_points_array[i * 4 + 0] = point.x;
+    out_points_array[i * 4 + 1] = point.y;
+    out_points_array[i * 4 + 2] = point.z;
+    out_points_array[i * 4 + 3] = point.intensity;
+  }
+}
+
+void TestClass::makePointsForTest(pcl::PointCloud<pcl::PointXYZI>::Ptr in_pcl_pc_ptr)
+{
+  pcl::PointXYZI point;
+  point.x = 12.9892;
+  point.y = -9.98058;
+  point.z = 0;
+  point.intensity = 4;
+  in_pcl_pc_ptr->push_back(point);
+  point.x = 11.8697;
+  point.y = -11.123;
+  point.z = -0.189377;
+  point.intensity = 35;
+  in_pcl_pc_ptr->push_back(point);
+  point.x = 12.489;
+  point.y = -9.59703;
+  point.z = -2.15565;
+  point.intensity = 11;
+  in_pcl_pc_ptr->push_back(point);
+  point.x = 12.9084;
+  point.y = -10.9626;
+  point.z = -2.15565;
+  point.intensity = 11;
+  in_pcl_pc_ptr->push_back(point);
+  point.x = 13.8676;
+  point.y = -9.61668;
+  point.z = 0.0980819;
+  point.intensity = 14;
+  in_pcl_pc_ptr->push_back(point);
+  point.x = 13.5673;
+  point.y = -12.9834;
+  point.z = 0.21862;
+  point.intensity = 1;
+  in_pcl_pc_ptr->push_back(point);
+  point.x = 13.8213;
+  point.y = -10.8529;
+  point.z = -1.22883;
+  point.intensity = 19;
+  in_pcl_pc_ptr->push_back(point);
+  point.x = 11.8957;
+  point.y = -10.3189;
+  point.z = -1.28556;
+  point.intensity = 13;
+  in_pcl_pc_ptr->push_back(point);
+}
+
+void TestClass::generateAnchors(float* anchors_px, float* anchors_py, float* anchors_pz, float* anchors_dx,
+                                float* anchors_dy, float* anchors_dz, float* anchors_ro)
+{
+  return point_pillars_ptr_->generateAnchors(anchors_px, anchors_py, anchors_pz, anchors_dx,
+                                             anchors_dy, anchors_dz, anchors_ro);
+}
+
+void TestClass::convertAnchors2BoxAnchors(float* anchors_px, float* anchors_py, float* anchors_dx, float* anchors_dy,
+                                          float* box_anchors_min_x, float* box_anchors_min_y,
+                                          float* box_anchors_max_x, float* box_anchors_max_y)
+{
+  return point_pillars_ptr_->convertAnchors2BoxAnchors(anchors_px, anchors_py, anchors_dx, anchors_dy,
+                                                       box_anchors_min_x, box_anchors_min_y,
+                                                       box_anchors_max_x, box_anchors_max_y);
+}
+
+TEST(TestSuite, CheckPreprocessPointsCPU)
+{
+  const int MAX_NUM_PILLARS = 12000;
+  const int MAX_NUM_POINTS_PER_PILLAR = 100;
+  const int GRID_X_SIZE = 432;
+  const int GRID_Y_SIZE = 496;
+  const int GRID_Z_SIZE = 1;
+  const float PILLAR_X_SIZE = 0.16;
+  const float PILLAR_Y_SIZE = 0.16;
+  const float PILLAR_Z_SIZE = 4.0;
+  const float MIN_X_RANGE = 0;
+  const float MIN_Y_RANGE = -39.68;
+  const float MIN_Z_RANGE = -3.0;
+  const int NUM_INDS_FOR_SCAN = 512;
+  const int NUM_BOX_CORNERS = 4;
+  TestClass test_obj(MAX_NUM_PILLARS,
+                     MAX_NUM_POINTS_PER_PILLAR,
+                     GRID_X_SIZE,
+                     GRID_Y_SIZE,
+                     GRID_Z_SIZE,
+                     PILLAR_X_SIZE,
+                     PILLAR_Y_SIZE,
+                     PILLAR_Z_SIZE,
+                     MIN_X_RANGE,
+                     MIN_Y_RANGE,
+                     MIN_Z_RANGE,
+                     NUM_INDS_FOR_SCAN,
+                     NUM_BOX_CORNERS);
+
+  pcl::PointCloud<pcl::PointXYZI>::Ptr pcl_pc_ptr(new pcl::PointCloud<pcl::PointXYZI>);
+  test_obj.makePointsForTest(pcl_pc_ptr);
+
+  float* points_array = new float[pcl_pc_ptr->size() * 4];
+  test_obj.pclToArray(pcl_pc_ptr, points_array);
+
+  int x_coors[test_obj.MAX_NUM_PILLARS_] = { 0 };
+  int y_coors[test_obj.MAX_NUM_PILLARS_] = { 0 };
+  float num_points_per_pillar[test_obj.MAX_NUM_PILLARS_] = { 0 };
+  float* pillar_x = new float[test_obj.MAX_NUM_PILLARS_ * test_obj.MAX_NUM_POINTS_PER_PILLAR_];
+  float* pillar_y = new float[test_obj.MAX_NUM_PILLARS_ * test_obj.MAX_NUM_POINTS_PER_PILLAR_];
+  float* pillar_z = new float[test_obj.MAX_NUM_PILLARS_ * test_obj.MAX_NUM_POINTS_PER_PILLAR_];
+  float* pillar_i = new float[test_obj.MAX_NUM_PILLARS_ * test_obj.MAX_NUM_POINTS_PER_PILLAR_];
+
+  float* x_coors_for_sub_shaped = new float[test_obj.MAX_NUM_PILLARS_ * test_obj.MAX_NUM_POINTS_PER_PILLAR_];
+  float* y_coors_for_sub_shaped = new float[test_obj.MAX_NUM_PILLARS_ * test_obj.MAX_NUM_POINTS_PER_PILLAR_];
+  float* pillar_feature_mask = new float[test_obj.MAX_NUM_PILLARS_ * test_obj.MAX_NUM_POINTS_PER_PILLAR_];
+
+  float* sparse_pillar_map = new float[512 * 512];
+
+  int host_pillar_count[1] = { 0 };
+  test_obj.preprocess(points_array, pcl_pc_ptr->size(), x_coors, y_coors, num_points_per_pillar, pillar_x, pillar_y,
+                      pillar_z, pillar_i, x_coors_for_sub_shaped, y_coors_for_sub_shaped, pillar_feature_mask,
+                      sparse_pillar_map, host_pillar_count);
+  EXPECT_EQ(1, num_points_per_pillar[0]);
+  EXPECT_FLOAT_EQ(12.9892, pillar_x[0]);
+  EXPECT_EQ(74, x_coors[1]);
+  EXPECT_EQ(178, y_coors[1]);
+  EXPECT_EQ(1, sparse_pillar_map[178 * 512 + 74]);
+  EXPECT_EQ(8, host_pillar_count[0]);
+  delete[] points_array;
+  delete[] pillar_x;
+  delete[] pillar_y;
+  delete[] pillar_z;
+  delete[] pillar_i;
+  delete[] x_coors_for_sub_shaped;
+  delete[] y_coors_for_sub_shaped;
+  delete[] pillar_feature_mask;
+  delete[] sparse_pillar_map;
+}
+
+TEST(TestSuite, CheckGenerateAnchors)
+{
+  const int MAX_NUM_PILLARS = 12000;
+  const int MAX_NUM_POINTS_PER_PILLAR = 100;
+  const int GRID_X_SIZE = 432;
+  const int GRID_Y_SIZE = 496;
+  const int GRID_Z_SIZE = 1;
+  const float PILLAR_X_SIZE = 0.16;
+  const float PILLAR_Y_SIZE = 0.16;
+  const float PILLAR_Z_SIZE = 4.0;
+  const float MIN_X_RANGE = 0;
+  const float MIN_Y_RANGE = -39.68;
+  const float MIN_Z_RANGE = -3.0;
+  const int NUM_INDS_FOR_SCAN = 512;
+  const int NUM_BOX_CORNERS = 4;
+  TestClass test_obj(MAX_NUM_PILLARS,
+                     MAX_NUM_POINTS_PER_PILLAR,
+                     GRID_X_SIZE,
+                     GRID_Y_SIZE,
+                     GRID_Z_SIZE,
+                     PILLAR_X_SIZE,
+                     PILLAR_Y_SIZE,
+                     PILLAR_Z_SIZE,
+                     MIN_X_RANGE,
+                     MIN_Y_RANGE,
+                     MIN_Z_RANGE,
+                     NUM_INDS_FOR_SCAN,
+                     NUM_BOX_CORNERS);
+
+  const int NUM_ANCHOR = 432*0.5*496*0.5*2;
+  float* anchors_px = new float[NUM_ANCHOR];
+  float* anchors_py = new float[NUM_ANCHOR];
+  float* anchors_pz = new float[NUM_ANCHOR];
+  float* anchors_dx = new float[NUM_ANCHOR];
+  float* anchors_dy = new float[NUM_ANCHOR];
+  float* anchors_dz = new float[NUM_ANCHOR];
+  float* anchors_ro = new float[NUM_ANCHOR];
+  test_obj.generateAnchors(anchors_px, anchors_py, anchors_pz, anchors_dx, anchors_dy, anchors_dz, anchors_ro);
+
+  EXPECT_NEAR(0.48, anchors_px[3], 0.001);
+  EXPECT_NEAR(-39.52, anchors_py[109], 0.001);
+  EXPECT_NEAR(-1.73, anchors_pz[76], 0.001);
+  EXPECT_NEAR(1.6, anchors_dx[338], 0.001);
+  EXPECT_NEAR(3.9, anchors_dy[22], 0.001);
+  EXPECT_NEAR(1.56, anchors_dz[993], 0.001);
+  EXPECT_NEAR(1.5708, anchors_ro[1765], 0.001);
+
+  delete[] anchors_px;
+  delete[] anchors_py;
+  delete[] anchors_pz;
+  delete[] anchors_dx;
+  delete[] anchors_dy;
+  delete[] anchors_dz;
+  delete[] anchors_ro;
+}
+
+TEST(TestSuite, CheckGenerateBoxAnchors)
+{
+  const int MAX_NUM_PILLARS = 12000;
+  const int MAX_NUM_POINTS_PER_PILLAR = 100;
+  const int GRID_X_SIZE = 432;
+  const int GRID_Y_SIZE = 496;
+  const int GRID_Z_SIZE = 1;
+  const float PILLAR_X_SIZE = 0.16;
+  const float PILLAR_Y_SIZE = 0.16;
+  const float PILLAR_Z_SIZE = 4.0;
+  const float MIN_X_RANGE = 0;
+  const float MIN_Y_RANGE = -39.68;
+  const float MIN_Z_RANGE = -3.0;
+  const int NUM_INDS_FOR_SCAN = 512;
+  const int NUM_BOX_CORNERS = 4;
+  TestClass test_obj(MAX_NUM_PILLARS,
+                     MAX_NUM_POINTS_PER_PILLAR,
+                     GRID_X_SIZE,
+                     GRID_Y_SIZE,
+                     GRID_Z_SIZE,
+                     PILLAR_X_SIZE,
+                     PILLAR_Y_SIZE,
+                     PILLAR_Z_SIZE,
+                     MIN_X_RANGE,
+                     MIN_Y_RANGE,
+                     MIN_Z_RANGE,
+                     NUM_INDS_FOR_SCAN,
+                     NUM_BOX_CORNERS);
+
+  const int NUM_ANCHOR = 432*0.5*496*0.5*2;
+
+  float* anchors_px = new float[NUM_ANCHOR];
+  float* anchors_py = new float[NUM_ANCHOR];
+  float* anchors_pz = new float[NUM_ANCHOR];
+  float* anchors_dx = new float[NUM_ANCHOR];
+  float* anchors_dy = new float[NUM_ANCHOR];
+  float* anchors_dz = new float[NUM_ANCHOR];
+  float* anchors_ro = new float[NUM_ANCHOR];
+  float* box_anchors_min_x = new float[NUM_ANCHOR];
+  float* box_anchors_min_y = new float[NUM_ANCHOR];
+  float* box_anchors_max_x = new float[NUM_ANCHOR];
+  float* box_anchors_max_y = new float[NUM_ANCHOR];
+  test_obj.generateAnchors(anchors_px, anchors_py, anchors_pz, anchors_dx, anchors_dy, anchors_dz, anchors_ro);
+  test_obj.convertAnchors2BoxAnchors(anchors_px, anchors_py, anchors_dx, anchors_dy,
+                                    box_anchors_min_x, box_anchors_min_y,
+                                    box_anchors_max_x, box_anchors_max_y);
+
+  EXPECT_NEAR(53.25,  box_anchors_min_x[345], 0.001);
+  EXPECT_NEAR(-41.47, box_anchors_min_y[22], 0.001);
+  EXPECT_NEAR(38.4,   box_anchors_max_x[1098], 0.001);
+  EXPECT_NEAR(-38.4,  box_anchors_max_y[675], 0.001);
+
+
+  delete[] anchors_px;
+  delete[] anchors_py;
+  delete[] anchors_pz;
+  delete[] anchors_dx;
+  delete[] anchors_dy;
+  delete[] anchors_dz;
+  delete[] anchors_ro;
+  delete[] box_anchors_min_x;
+  delete[] box_anchors_min_y;
+  delete[] box_anchors_max_x;
+  delete[] box_anchors_max_y;
+}
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  ros::init(argc, argv, "TestNode");
+  return RUN_ALL_TESTS();
+}
diff --git a/ros/src/util/packages/runtime_manager/scripts/computing.yaml b/ros/src/util/packages/runtime_manager/scripts/computing.yaml
index 61a12437e33..2aa7f0b80e9 100755
--- a/ros/src/util/packages/runtime_manager/scripts/computing.yaml
+++ b/ros/src/util/packages/runtime_manager/scripts/computing.yaml
@@ -193,6 +193,11 @@ subs :
         cmd  : roslaunch lidar_apollo_cnn_seg_detect lidar_apollo_cnn_seg_detect.launch
         param: lidar_cnn_baidu_params
 
+      - name : lidar_point_pillars
+        desc : lidar_point_pillars. Requires CUDA and TensorRT
+        cmd  : roslaunch lidar_point_pillars lidar_point_pillars.launch
+        param: lidar_point_pillars_params
+
       - name : lidar_naive_l_shape_detect
         desc : lidar_naive_l_shape_detect desc sample
         cmd  : roslaunch lidar_naive_l_shape_detect lidar_naive_l_shape_detect.launch
@@ -5406,4 +5411,65 @@ params :
       v         : 0
       cmd_param :
         dash      : ''
-        delim     : ':='
\ No newline at end of file
+        delim     : ':='
+  - name  : lidar_point_pillars_params
+    vars  :
+    - name      : input_topic
+      desc      : PointCloud topic to be fed to the network for detection.
+      label     : Input topic
+      kind  : topic
+      topic_type : sensor_msgs/PointCloud2
+      v         : /points_raw
+      cmd_param :
+        dash      : ''
+        delim     : ':='
+    - name      : baselink_support
+      desc      : Whether to use baselink to adujust current sensor setup.
+      label     : Baselink support
+      kind      : checkbox
+      v         : True
+      cmd_param :
+        dash      : ''
+        delim     : ':='
+    - name      : reproduce_result_mode
+      desc      : Whether to enable reproducible result at the cost of the runtime.
+      label     : reproduce_result_mode
+      kind      : checkbox
+      v         : False
+      cmd_param :
+        dash      : ''
+        delim     : ':='
+    - name  : score_threshold
+      desc  : Detections with a confidence value larger than this value will be displayed.
+      label : Score threshold
+      min   : 0.0
+      max   : 1.0
+      v     : 0.5
+      cmd_param :
+        dash      : ''
+        delim     : ':='
+    - name  : nms_overlap_threshold
+      desc  : Lower IOU than this value will be filtered.
+      label : NMS overlap threshold
+      min   : 0.0
+      max   : 1.0
+      v     : 0.5
+      cmd_param :
+        dash      : ''
+        delim     : ':='
+    - name     : pfe_onnx_file
+      desc     : Pillar Feature Extractor onnx file.
+      label    : 'PFE ONNX file'
+      kind     : path
+      v        : ''
+      cmd_param:
+        dash     : ''
+        delim    : ':='
+    - name     : rpn_onnx_file
+      desc     : Region Proposal Network onnx file.
+      label    : 'RPN ONNX file'
+      kind     : path
+      v        : ''
+      cmd_param:
+        dash     : ''
+        delim    : ':='

From 2ee0c451309d3f7aa072c14ae1bff4e053758675 Mon Sep 17 00:00:00 2001
From: ChenxiTU <tu.chenxi@g.sp.m.is.nagoya-u.ac.jp>
Date: Fri, 8 Mar 2019 15:08:23 +0900
Subject: [PATCH 04/23] Feature/rosbag_controller_split (#2046)

* new feature: split and warning

* fix bugs; add absolute path with default filename
---
 .../src/autoware_rosbag_plugin.cpp            | 163 +++++++++++++----
 .../src/autoware_rosbag_plugin.h              |   9 +
 .../src/autoware_rosbag_plugin.ui             | 173 ++++++++++++------
 .../rosbag_controller/src/core/recorder.cpp   |   4 +-
 4 files changed, 259 insertions(+), 90 deletions(-)

diff --git a/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/autoware_rosbag_plugin.cpp b/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/autoware_rosbag_plugin.cpp
index da45b63f3ef..a64c211c801 100644
--- a/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/autoware_rosbag_plugin.cpp
+++ b/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/autoware_rosbag_plugin.cpp
@@ -59,6 +59,8 @@ Autoware_Rosbag_Plugin::Autoware_Rosbag_Plugin(QWidget *parent) :
 {
   record_filepath_.clear();
   record_filename_.clear();
+  split_duration = 0;
+  split_size = 0;
 
   ui->setupUi(this);
   ui_timer_ = new QTimer();
@@ -67,8 +69,6 @@ Autoware_Rosbag_Plugin::Autoware_Rosbag_Plugin(QWidget *parent) :
 
   ui->button_record_start->setDisabled(true);
   ui->button_record_stop->setDisabled(true);
-
-
 }
 
 Autoware_Rosbag_Plugin::~Autoware_Rosbag_Plugin()
@@ -82,7 +82,7 @@ PLUGINLIB_EXPORT_CLASS(Autoware_Rosbag_Plugin, rviz::Panel)
 
 void Autoware_Rosbag_Plugin::on_edit_record_filename_textChanged(const QString &arg1)
 {
-  if( !arg1.isEmpty() )
+  if (!arg1.isEmpty())
   {
     record_filename_ = arg1.toStdString();
     ui->button_record_start->setEnabled(true);
@@ -92,14 +92,18 @@ void Autoware_Rosbag_Plugin::on_edit_record_filename_textChanged(const QString &
 
 void Autoware_Rosbag_Plugin::on_button_record_save_clicked()
 {
+  /* set default filename */
+  QDateTime now = QDateTime::currentDateTime();
+  QString timestamp = now.toString(QLatin1String("yyyyMMddhhmmss"));
+  QString initial_filename = "autoware-" + timestamp + ".bag";
+
   /* open dialog */
   QString pathInfo =
       QFileDialog::getSaveFileName(
               this,
-              tr("path of saving bag"),
-              DEFAULT_SAVE_PATH);
+              tr("path of saving bag"), DEFAULT_SAVE_PATH + initial_filename);
 
-  if( ! pathInfo.isEmpty() )
+  if (!pathInfo.isEmpty())
   {
     QString filepath, filename, strTemp;
 
@@ -124,7 +128,7 @@ void Autoware_Rosbag_Plugin::on_button_record_save_clicked()
     }
 
     record_filepath_ = filepath.toStdString();
-    ui->edit_record_filename->setText(filename);
+    ui->edit_record_filename->setText(filepath + filename);
 
   }
 }
@@ -135,25 +139,21 @@ void Autoware_Rosbag_Plugin::on_button_record_start_clicked()
 
   record_topics_.clear();
 
-  /* Set topics parameter from configure file */
-  std::vector<std::string>::iterator ite = conf_topics_.begin();
-  while( ite != conf_topics_.end() )
-  {
-    record_topics_.push_back(*ite);
-    ite++;
-  }
-
   /* Set topics parameter from checkboxes */
   QList<QCheckBox *> list_checkboxes = ui->scrollAreaWidgetContents->findChildren<QCheckBox *>();
+  string topic_name;
   for (int i = 0; i < list_checkboxes.size(); ++i) {
-      if ((list_checkboxes.at(i)->isChecked()) &&
-          ((std::find(conf_topics_.begin(), conf_topics_.end(), list_checkboxes.at(i)->text().toStdString()) == conf_topics_.end())))
+      if (list_checkboxes.at(i)->isChecked())
       {
-        record_topics_.push_back(list_checkboxes.at(i)->text().toStdString());
+        topic_name = list_checkboxes.at(i)->text().toStdString();
+        if (topic_name.find("!") == string::npos)
+          record_topics_.push_back(topic_name);
+        else
+          record_topics_.push_back(topic_name.substr(0, topic_name.length() - strlen("(Not published!!)")));
       }
   }
 
-  ite = record_topics_.begin();
+  std::vector<std::string>::iterator ite = record_topics_.begin();
   while( ite != record_topics_.end() )
   {
     recoParam.topics.push_back(*ite);
@@ -161,7 +161,19 @@ void Autoware_Rosbag_Plugin::on_button_record_start_clicked()
   }
 
   /* Set filename parameter */
-  recoParam.filename = record_filepath_ + record_filename_;
+  recoParam.filename = record_filename_;
+
+  /* Caculate max split size */
+  if (split_size != 0 && ui->checkBox_split_size->isChecked())
+    recoParam.max_size = ceil(split_size * 1048576 * 1024);
+  else
+    recoParam.max_size = 0;
+
+  /* Caculate max split size */
+  if (split_duration != 0 && ui->checkBox_split_duration->isChecked())
+    recoParam.max_duration = ceil(split_duration * 60);
+  else
+    recoParam.max_duration = -1.0;
 
   /* Start record */
   recordReq(recoParam);
@@ -187,15 +199,22 @@ int Autoware_Rosbag_Plugin::recordReq( RecordParam &recoParam )
   recorder_opts_->min_space     = 1 * 1073741824ull;
   recorder_opts_->min_space_str = "1G";
 
+  /* Set max split size MB */
+  if (recoParam.max_size != 0)
+  {
+    recorder_opts_->split = true;
+    recorder_opts_->max_size = recoParam.max_size;
+  }
+
   /* Set max duration Sec */
-  if( recoParam.max_duration != 0 )
+  if (recoParam.max_duration != -1.0)
   {
     recorder_opts_->split = true;
     recorder_opts_->max_duration = ros::Duration(recoParam.max_duration);
   }
 
   /* No specified topics then record all */
-  if( recoParam.topics.empty() )
+  if (recoParam.topics.empty())
   {
     recorder_opts_->record_all = true;
   }
@@ -203,7 +222,7 @@ int Autoware_Rosbag_Plugin::recordReq( RecordParam &recoParam )
   {
     /* Give specified topics to request */
     std::vector<std::string>::iterator ite = recoParam.topics.begin();
-    while(ite < recoParam.topics.end() )
+    while (ite < recoParam.topics.end())
     {
       recorder_opts_->topics.push_back( *ite );
       ite++;
@@ -224,8 +243,8 @@ int Autoware_Rosbag_Plugin::recordReq( RecordParam &recoParam )
   ROS_INFO("%s L.%d -   chunk_size      [%d]", __FUNCTION__, __LINE__, recorder_opts_->chunk_size);
   ROS_INFO("%s L.%d -   limit           [%d]", __FUNCTION__, __LINE__, recorder_opts_->limit);
   ROS_INFO("%s L.%d -   split           [%d]", __FUNCTION__, __LINE__, recorder_opts_->split);
-  ROS_INFO("%s L.%d -   max_size        [%d]", __FUNCTION__, __LINE__, recorder_opts_->max_size);
-  ROS_INFO("%s L.%d -   max_duration    [%lf]", __FUNCTION__, __LINE__, recorder_opts_->max_duration.toSec() );
+  ROS_INFO("%s L.%d -   max_size        [%.2fGB]", __FUNCTION__, __LINE__, recorder_opts_->max_size / 1048576.0 / 1024.0);
+  ROS_INFO("%s L.%d -   max_duration    [%.1fmin]", __FUNCTION__, __LINE__, recorder_opts_->max_duration.toSec() / 60.0 );
   ROS_INFO("%s L.%d -   node            [%s]", __FUNCTION__, __LINE__, recorder_opts_->node.c_str() );
   ROS_INFO("%s L.%d -   min_space       [%d]", __FUNCTION__, __LINE__, recorder_opts_->min_space );
   ROS_INFO("%s L.%d -   min_space_str   [%s]", __FUNCTION__, __LINE__, recorder_opts_->min_space_str.c_str() );
@@ -247,7 +266,7 @@ int Autoware_Rosbag_Plugin::doRecord( rosbag_controller::RecorderOptions &opt )
 
   record_time_start_ = ros::Time::now();
 
-  if( recorder_->start() == 0 )
+  if (recorder_->start() == 0)
   {
 //    ROS_INFO("Start now!!!");
   }
@@ -320,25 +339,56 @@ void Autoware_Rosbag_Plugin::on_botton_topic_refresh_clicked()
   QVBoxLayout *lay = new QVBoxLayout(ui->scrollAreaWidgetContents);
   int topic_num = 0;
 
-  /* Scan current topics and build checkboxs */
+  /* Scan current topics */
   std::vector<std::string> current_topic;
   for (ros::master::V_TopicInfo::iterator it = master_topics.begin() ; it != master_topics.end(); it++) {
     const ros::master::TopicInfo& info = *it;
     current_topic.push_back(info.name);
   }
 
+  /* Soft topics */
   std::sort(current_topic.begin(),current_topic.end());
 
+  /* Build checkboxs for configure file */
+  if (!conf_topics_.empty())
+  {
+    std::vector<std::string>::iterator ite = conf_topics_.begin();
+    while (ite != conf_topics_.end())
+    {
+      if (std::find(current_topic.begin(), current_topic.end(), *ite) == current_topic.end())
+      {
+        QCheckBox *dynamic = new QCheckBox(QString::fromStdString(*ite + "(Not published!!)"));
+        dynamic->setChecked (true);
+        dynamic->setStyleSheet("color: red;"
+                               "background-color: yellow;");
+        lay->addWidget(dynamic);
+        topic_num++;
+        ite++;
+      }
+      else
+      {
+        QCheckBox *dynamic = new QCheckBox(QString::fromStdString(*ite));
+        dynamic->setChecked (true);
+        lay->addWidget(dynamic);
+        topic_num++;
+        ite++;
+      }
+    }
+  }
+
+  /* Build checkboxs for current topics */
   std::vector<std::string>::iterator ite = current_topic.begin();
-  while( ite != current_topic.end() )
+  while (ite != current_topic.end())
   {
-    QCheckBox *dynamic = new QCheckBox(QString::fromStdString(*ite));
-    dynamic->setChecked (false);
-    lay->addWidget(dynamic);
-    topic_num++;
+    if (std::find(conf_topics_.begin(), conf_topics_.end(), *ite) == conf_topics_.end())
+    {
+      QCheckBox *dynamic = new QCheckBox(QString::fromStdString(*ite));
+      dynamic->setChecked (false);
+      lay->addWidget(dynamic);
+      topic_num++;
+    }
     ite++;
   }
-
   ui->scrollAreaWidgetContents->setLayout(lay);
 }
 
@@ -351,14 +401,14 @@ void Autoware_Rosbag_Plugin::on_button_record_configure_clicked()
               tr("path of record configure file"),
               DEFAULT_CONFIGURE_PATH);
 
-  if( ! configureInfo.isEmpty() )
+  if (!configureInfo.isEmpty())
   {
     QString filepath, filename, strTemp;
 
     strTemp = configureInfo;
     int idx = strTemp.lastIndexOf('/');
 
-    if( idx != -1 )
+    if (idx != -1)
     {
       filepath = strTemp.left(idx+1);
       filename = strTemp.remove(0, idx+1);
@@ -370,7 +420,7 @@ void Autoware_Rosbag_Plugin::on_button_record_configure_clicked()
     }
 
     idx = filename.lastIndexOf(".yaml");
-    if(idx == -1)
+    if (idx == -1)
     {
       ROS_ERROR("Need .yaml file!!");
       return;
@@ -393,3 +443,44 @@ void Autoware_Rosbag_Plugin::on_button_record_configure_clicked()
   }
 }
 
+void Autoware_Rosbag_Plugin::on_checkBox_split_size_stateChanged(int arg1)
+{
+  if (ui->checkBox_split_size->isChecked())
+  {
+    ui->checkBox_split_duration->setDisabled(true);
+    ui->lineEdit_duration->setDisabled(true);
+    ui->lineEdit_size->setEnabled(true);
+  }
+  else
+  {
+    ui->checkBox_split_duration->setEnabled(true);
+    ui->lineEdit_duration->setDisabled(true);
+    ui->lineEdit_size->setDisabled(true);
+  }
+}
+
+void Autoware_Rosbag_Plugin::on_checkBox_split_duration_stateChanged(int arg1)
+{
+  if (ui->checkBox_split_duration->isChecked())
+  {
+    ui->checkBox_split_size->setDisabled(true);
+    ui->lineEdit_size->setDisabled(true);
+    ui->lineEdit_duration->setEnabled(true);
+  }
+  else
+  {
+    ui->checkBox_split_size->setEnabled(true);
+    ui->lineEdit_size->setDisabled(true);
+    ui->lineEdit_duration->setDisabled(true);
+  }
+}
+
+void Autoware_Rosbag_Plugin::on_lineEdit_duration_textEdited(const QString &arg1)
+{
+    split_duration = arg1.toDouble();
+}
+
+void Autoware_Rosbag_Plugin::on_lineEdit_size_textEdited(const QString &arg1)
+{
+    split_size = arg1.toDouble();
+}
diff --git a/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/autoware_rosbag_plugin.h b/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/autoware_rosbag_plugin.h
index f8bb89ddcc0..fff4146538d 100644
--- a/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/autoware_rosbag_plugin.h
+++ b/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/autoware_rosbag_plugin.h
@@ -69,6 +69,7 @@ class Autoware_Rosbag_Plugin : public rviz::Panel
       std::string filename;
       std::vector<std::string> topics;
       int max_duration;
+      uint32_t max_size;
     } RecordParam;
 
 protected:
@@ -90,6 +91,11 @@ protected Q_SLOTS:
     void on_botton_topic_refresh_clicked();
     void on_button_record_configure_clicked();
 
+    void on_checkBox_split_size_stateChanged(int arg1);
+    void on_checkBox_split_duration_stateChanged(int arg1);
+    void on_lineEdit_duration_textEdited(const QString &arg1);
+    void on_lineEdit_size_textEdited(const QString &arg1);
+
 private:
 
     static const QString DEFAULT_SAVE_PATH;
@@ -102,6 +108,9 @@ protected Q_SLOTS:
     std::string record_filepath_;
     std::string record_filename_;
     std::vector<std::string> record_topics_;
+    double split_size;
+    double split_duration;
+
     bool record_status_;
 
     ros::Time record_time_start_;
diff --git a/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/autoware_rosbag_plugin.ui b/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/autoware_rosbag_plugin.ui
index aace7f4f4cc..617bb47a41e 100644
--- a/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/autoware_rosbag_plugin.ui
+++ b/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/autoware_rosbag_plugin.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>333</width>
-    <height>462</height>
+    <height>482</height>
    </rect>
   </property>
   <property name="minimumSize">
@@ -19,8 +19,8 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout_2">
-   <item row="0" column="0" colspan="2">
+  <layout class="QGridLayout" name="gridLayout_3">
+   <item row="0" column="0">
     <widget class="QPushButton" name="button_record_start">
      <property name="enabled">
       <bool>true</bool>
@@ -42,7 +42,7 @@
      </property>
     </widget>
    </item>
-   <item row="0" column="2">
+   <item row="0" column="1">
     <spacer name="horizontalSpacer">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
@@ -55,15 +55,107 @@
      </property>
     </spacer>
    </item>
-   <item row="1" column="0" colspan="2">
+   <item row="0" column="2">
+    <widget class="QPushButton" name="button_record_stop">
+     <property name="minimumSize">
+      <size>
+       <width>101</width>
+       <height>71</height>
+      </size>
+     </property>
+     <property name="text">
+      <string>Record Stop</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="0">
     <widget class="QLabel" name="label_text_recTime">
      <property name="text">
       <string>Record Time:</string>
      </property>
     </widget>
    </item>
-   <item row="2" column="0" colspan="4">
+   <item row="1" column="1">
+    <widget class="QLabel" name="label_recTime">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="text">
+      <string>00:00:00</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0" colspan="3">
     <layout class="QGridLayout" name="gridLayout">
+     <item row="0" column="0" colspan="2">
+      <widget class="QCheckBox" name="checkBox_split_size">
+       <property name="enabled">
+        <bool>true</bool>
+       </property>
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>Split    </string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="2">
+      <widget class="QLabel" name="label_size">
+       <property name="text">
+        <string>size</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="3">
+      <widget class="QLineEdit" name="lineEdit_size">
+       <property name="enabled">
+        <bool>false</bool>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="4">
+      <widget class="QLabel" name="label_GB">
+       <property name="text">
+        <string>GB</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="0">
+      <widget class="QCheckBox" name="checkBox_split_duration">
+       <property name="text">
+        <string>Split</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="1" colspan="2">
+      <widget class="QLabel" name="label_duration">
+       <property name="text">
+        <string>duration</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="3">
+      <widget class="QLineEdit" name="lineEdit_duration">
+       <property name="enabled">
+        <bool>false</bool>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="4">
+      <widget class="QLabel" name="label_min">
+       <property name="text">
+        <string>min</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="3" column="0" colspan="3">
+    <layout class="QGridLayout" name="gridLayout_2">
      <item row="0" column="0">
       <widget class="QLineEdit" name="edit_record_filename">
        <property name="readOnly">
@@ -74,7 +166,7 @@
      <item row="0" column="1">
       <widget class="QPushButton" name="button_record_save">
        <property name="text">
-        <string>Save</string>
+        <string>Ref</string>
        </property>
       </widget>
      </item>
@@ -94,7 +186,27 @@
      </item>
     </layout>
    </item>
-   <item row="4" column="0" colspan="4">
+   <item row="4" column="0">
+    <widget class="QPushButton" name="botton_topic_refresh">
+     <property name="text">
+      <string>Topic Refresh</string>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="1" colspan="2">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>207</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="5" column="0" colspan="3">
     <widget class="QScrollArea" name="scrollArea">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
@@ -114,55 +226,12 @@
         <x>0</x>
         <y>0</y>
         <width>313</width>
-        <height>235</height>
+        <height>185</height>
        </rect>
       </property>
      </widget>
     </widget>
    </item>
-   <item row="1" column="2" colspan="2">
-    <widget class="QLabel" name="label_recTime">
-     <property name="enabled">
-      <bool>true</bool>
-     </property>
-     <property name="text">
-      <string>00:00:00</string>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="3">
-    <widget class="QPushButton" name="button_record_stop">
-     <property name="minimumSize">
-      <size>
-       <width>101</width>
-       <height>71</height>
-      </size>
-     </property>
-     <property name="text">
-      <string>Record Stop</string>
-     </property>
-    </widget>
-   </item>
-   <item row="3" column="0">
-    <widget class="QPushButton" name="botton_topic_refresh">
-     <property name="text">
-      <string>Topic Refresh</string>
-     </property>
-    </widget>
-   </item>
-   <item row="3" column="1" colspan="3">
-    <spacer name="horizontalSpacer_2">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>207</width>
-       <height>20</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
   </layout>
  </widget>
  <resources/>
diff --git a/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/core/recorder.cpp b/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/core/recorder.cpp
index 4202aca3bf5..17a5dc5681d 100644
--- a/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/core/recorder.cpp
+++ b/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/core/recorder.cpp
@@ -518,8 +518,8 @@ void Recorder::doRecord() {
         if (checkSize())
             break;
 
-        if (checkDuration(out.time))
-            break;
+//        if (checkDuration(out.time))
+//            break;
 
         if (scheduledCheckDisk() && checkLogging()) {
             try {

From 86785ed07ad669eb7c6a3707bbe2f8eca22ea33d Mon Sep 17 00:00:00 2001
From: Yukihiro SAITO <yukky.saito@gmail.com>
Date: Mon, 11 Mar 2019 03:45:49 +0900
Subject: [PATCH 05/23] fixed gazebo bug with colcon

---
 .../CMakeLists.txt                            |  3 ++-
 .../scripts/download_model.sh                 | 21 ++++++++-----------
 .../scripts/integrate_world_files.sh          |  8 -------
 .../scripts/setup.sh                          |  6 ++----
 .../gazebo_world_description/CMakeLists.txt   |  5 +++++
 .../scripts/integrate_model_files.sh          |  8 +++++++
 .../scripts/integrate_world_files.sh          |  8 +++++++
 7 files changed, 34 insertions(+), 25 deletions(-)
 delete mode 100755 ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/integrate_world_files.sh
 create mode 100755 ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/scripts/integrate_model_files.sh
 create mode 100755 ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/scripts/integrate_world_files.sh

diff --git a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/CMakeLists.txt b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/CMakeLists.txt
index db10e4ad901..63782e4a341 100644
--- a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/CMakeLists.txt
+++ b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/CMakeLists.txt
@@ -17,4 +17,5 @@ catkin_package(
 install(DIRECTORY launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 install(DIRECTORY scripts
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS)
diff --git a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/download_model.sh b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/download_model.sh
index 65f50a82445..4b5d0354305 100755
--- a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/download_model.sh
+++ b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/download_model.sh
@@ -1,25 +1,22 @@
 #!/bin/sh
 
 mkdir -p ~/.gazebo/models
-echo "Download generic gazebo models"
+echo "---- Download generic gazebo models ----"
 if [ -e /tmp/gazebo_models ]; then
-  echo "Already exist /tmp/gazebo_models"
-  echo "removing /tmp/gazebo_models"
+  echo "---- Already exist /tmp/gazebo_models ----"
+  echo "---- removing /tmp/gazebo_models ----"
   rm -r /tmp/gazebo_models
 fi
 hg clone https://bitbucket.org/osrf/gazebo_models /tmp/gazebo_models
 
 if [ -e /tmp/gazebo_models ]; then
-  echo "Install generic gazebo models"
+  echo "---- Install generic gazebo models ----"
   mv -n /tmp/gazebo_models/* ~/.gazebo/models/
-  echo "Completed"
+  echo "---- Completed ----"
 else
-  echo "Error"
+  echo "---- Error ----"
 fi
 
-echo "Install osrf_citysim models"
-SCRIPT_DIR=$(cd $(dirname $0); pwd)
-cp -rn $SCRIPT_DIR/../../../worlds/external/osrf_citysim/models/* ~/.gazebo/models/
-
-echo "Install car_demo models"
-cp -rn $SCRIPT_DIR/../../../worlds/external/car_demo/car_demo/models/* ~/.gazebo/models/
+echo "---- Install models ----"
+cp -rn $(rospack find gazebo_world_description)/models/* ~/.gazebo/models/
+echo "---- Completed ----"
diff --git a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/integrate_world_files.sh b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/integrate_world_files.sh
deleted file mode 100755
index f2a75ec7969..00000000000
--- a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/integrate_world_files.sh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/bin/sh
-
-SCRIPT_DIR=$(cd $(dirname $0); pwd)
-echo "Copy world file to gazebo_world_description"
-cp -n $SCRIPT_DIR/../../../worlds/external/osrf_citysim/worlds/citysim_gazebo7.world $SCRIPT_DIR/../../../worlds/gazebo_world_description/worlds/
-cp -n $SCRIPT_DIR/../../../worlds/external/osrf_citysim/worlds/citysim_gazebo9.world $SCRIPT_DIR/../../../worlds/gazebo_world_description/worlds/
-cp -n $SCRIPT_DIR/../../../worlds/external/car_demo/car_demo/worlds/mcity.world $SCRIPT_DIR/../../../worlds/gazebo_world_description/worlds/
-cp -n $SCRIPT_DIR/../../../worlds/external/car_demo/car_demo/worlds/mcity_r1.world $SCRIPT_DIR/../../../worlds/gazebo_world_description/worlds/
diff --git a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/setup.sh b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/setup.sh
index 93db79d1371..f890a01323a 100755
--- a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/setup.sh
+++ b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/setup.sh
@@ -1,6 +1,4 @@
 #!/bin/sh
 
-SCRIPT_DIR=$(cd $(dirname $0); pwd)
-$SCRIPT_DIR/download_model.sh
-$SCRIPT_DIR/upgrade_gazebo_stable_version.sh
-$SCRIPT_DIR/integrate_world_files.sh
\ No newline at end of file
+rosrun vehicle_gazebo_simulation_launcher download_model.sh
+rosrun vehicle_gazebo_simulation_launcher upgrade_gazebo_stable_version.sh
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/CMakeLists.txt b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/CMakeLists.txt
index 2606b4b688a..18e4f0b829b 100644
--- a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/CMakeLists.txt
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/CMakeLists.txt
@@ -4,6 +4,11 @@ project(gazebo_world_description)
 find_package(catkin REQUIRED)
 
 catkin_package()
+add_custom_target(integrate_model ALL /bin/bash ${CMAKE_CURRENT_SOURCE_DIR}/scripts/integrate_model_files.sh)
+add_custom_target(integrate_world ALL /bin/bash ${CMAKE_CURRENT_SOURCE_DIR}/scripts/integrate_world_files.sh)
 
 install(DIRECTORY worlds
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(DIRECTORY models
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/scripts/integrate_model_files.sh b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/scripts/integrate_model_files.sh
new file mode 100755
index 00000000000..bd64050ee36
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/scripts/integrate_model_files.sh
@@ -0,0 +1,8 @@
+#!/bin/sh
+
+SCRIPT_DIR=$(cd $(dirname $0); pwd)
+echo "Copy world file to gazebo_world_description"
+cp -rn $SCRIPT_DIR/../../external/osrf_citysim/models/actor $SCRIPT_DIR/../models/
+cp -rn $SCRIPT_DIR/../../external/osrf_citysim/models/city_terrain $SCRIPT_DIR/../models/
+cp -rn $SCRIPT_DIR/../../external/osrf_citysim/models/ocean $SCRIPT_DIR/../models/
+cp -rn $SCRIPT_DIR/../../external/car_demo/car_demo/models/* $SCRIPT_DIR/../models/
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/scripts/integrate_world_files.sh b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/scripts/integrate_world_files.sh
new file mode 100755
index 00000000000..c925f471bd2
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/scripts/integrate_world_files.sh
@@ -0,0 +1,8 @@
+#!/bin/sh
+
+SCRIPT_DIR=$(cd $(dirname $0); pwd)
+echo "Copy world file to gazebo_world_description"
+cp -n $SCRIPT_DIR/../../external/osrf_citysim/worlds/citysim_gazebo7.world $SCRIPT_DIR/../worlds/
+cp -n $SCRIPT_DIR/../../external/osrf_citysim/worlds/citysim_gazebo9.world $SCRIPT_DIR/../worlds/
+cp -n $SCRIPT_DIR/../../external/car_demo/car_demo/worlds/mcity.world $SCRIPT_DIR/../worlds/
+cp -n $SCRIPT_DIR/../../external/car_demo/car_demo/worlds/mcity_r1.world $SCRIPT_DIR/../worlds/

From a72ef1b03f1d8961febcf12995451c310cc605b7 Mon Sep 17 00:00:00 2001
From: Yukihiro SAITO <yukky.saito@gmail.com>
Date: Mon, 11 Mar 2019 03:50:21 +0900
Subject: [PATCH 06/23] update car_demo submodule to fixed bug

---
 ros/src/simulation/gazebo_simulator/worlds/external/car_demo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ros/src/simulation/gazebo_simulator/worlds/external/car_demo b/ros/src/simulation/gazebo_simulator/worlds/external/car_demo
index 94cb2492f62..e364448fad4 160000
--- a/ros/src/simulation/gazebo_simulator/worlds/external/car_demo
+++ b/ros/src/simulation/gazebo_simulator/worlds/external/car_demo
@@ -1 +1 @@
-Subproject commit 94cb2492f627919eb2c82085fcb52061354a59e3
+Subproject commit e364448fad421cb6244c9f828f978d8d877dcbf9

From 37741d755e18d89699b1b7ca61516fbaac048f6d Mon Sep 17 00:00:00 2001
From: s-azumi <38061530+s-azumi@users.noreply.github.com>
Date: Mon, 11 Mar 2019 07:37:51 +0900
Subject: [PATCH 07/23] [Feature] Rebuild decision maker (#1609)

---
 .../common/libs/amathutils_lib/CMakeLists.txt |   6 +
 .../include/amathutils_lib/amathutils.hpp     |  65 +-
 .../libs/amathutils_lib/src/Amathutils.cpp    | 109 ++-
 .../test/src/test_amathutils_lib.cpp          | 256 +++++
 .../test/test_amathutils_lib.test             |   5 +
 .../libs/state_machine_lib/CMakeLists.txt     |   1 +
 .../include/state_machine_lib/state.hpp       | 190 ++--
 .../state_machine_lib/state_common.hpp        |   8 +-
 .../state_machine_lib/state_context.hpp       | 139 +--
 .../include/state_machine_lib/state_drive.hpp | 260 -----
 .../include/state_machine_lib/state_emg.hpp   |  82 --
 .../include/state_machine_lib/state_flags.hpp |  46 +-
 .../include/state_machine_lib/state_main.hpp  |  91 --
 .../state_machine_lib/src/state_context.cpp   | 503 +++++-----
 .../packages/decision_maker/CMakeLists.txt    |  62 +-
 .../packages/decision_maker/README.md         | 166 ++++
 .../decision_maker/autoware_state_drive.yaml  | 350 +++++++
 .../autoware_state_mission.yaml               | 109 +++
 .../autoware_state_vehicle.yaml               |  68 ++
 .../decision_maker/docs/DriveStates.jpg       | Bin 0 -> 1048593 bytes
 .../decision_maker/docs/MissionStates.jpg     | Bin 0 -> 259175 bytes
 .../decision_maker/docs/VehicleStates.jpg     | Bin 0 -> 119869 bytes
 .../{ => decision_maker}/cross_road_area.hpp  |  12 +-
 .../decision_maker/decision_maker_node.hpp    | 388 ++++++++
 .../decision_maker_param.hpp                  |   4 -
 .../include/decision_maker_node.hpp           | 293 ------
 .../include/planner_selector.hpp              |  69 --
 .../packages/decision_maker/interface.yaml    |   6 +-
 .../launch/decision_maker.launch              |  32 +-
 .../launch/planner_selector.launch            |   7 -
 .../nodes/decision_maker/cross_road_area.cpp  |  35 +-
 .../decision_maker/decision_maker_node.cpp    |   3 +-
 .../decision_maker_node_callback.cpp          | 432 +++-----
 .../decision_maker_node_core.cpp              |  33 +-
 .../decision_maker_node_decision.cpp          | 103 +-
 .../decision_maker_node_init.cpp              | 374 +++++--
 .../decision_maker_node_publish.cpp           | 300 ++----
 .../decision_maker_node_state_drive.cpp       | 387 ++++++++
 .../decision_maker_node_state_mission.cpp     | 228 +++++
 .../decision_maker_node_state_vehicle.cpp     | 151 +++
 .../decision_maker_node_stateupdate.cpp       | 463 ---------
 .../planner_selector_node.cpp                 | 234 -----
 .../packages/decision_maker/package.xml       |   5 +-
 .../decision_maker/test/src/test_class.hpp    |  91 ++
 .../decision_maker/test/src/test_main.cpp     |  30 +
 .../test/src/test_node_decision.cpp           |  93 ++
 .../test/src/test_node_state_drive.cpp        | 134 +++
 .../test/test_decision_maker.test             |  35 +
 .../packages/lane_planner/CMakeLists.txt      |  15 +
 .../lane_select => include}/hermite_curve.h   |   0
 .../lane_select_core.h                        |  49 +-
 .../lane_planner/launch/lane_select.launch    |   6 +-
 .../nodes/lane_rule/lane_rule.cpp             | 922 +++++++++---------
 .../nodes/lane_select/lane_select_core.cpp    |  40 +-
 .../mission/packages/lane_planner/package.xml |   2 +
 .../test/src/test_lane_select.cpp             |  77 ++
 .../test/src/test_lane_select.hpp             |  99 ++
 .../lane_planner/test/test_lane_select.test   |   5 +
 .../packages/waypoint_follower/CMakeLists.txt |  18 +-
 .../include/twist_gate/twist_gate.h           | 110 +++
 .../nodes/twist_gate/twist_gate.cpp           | 240 ++---
 .../nodes/twist_gate/twist_gate_node.cpp      |  33 +
 .../nodes/wf_simulator/wf_simulator.cpp       |  63 +-
 .../packages/waypoint_follower/package.xml    |   2 +
 .../test/src/test_twist_gate.cpp              | 267 +++++
 .../test/src/test_twist_gate.hpp              | 165 ++++
 .../test/test_twist_gate.test                 |   5 +
 .../msg/ConfigDecisionMaker.msg               |  28 +-
 ros/src/msgs/autoware_msgs/CMakeLists.txt     |   1 +
 ros/src/msgs/autoware_msgs/msg/LaneArray.msg  |   3 +-
 ros/src/msgs/autoware_msgs/msg/State.msg      |   7 +-
 .../autoware_msgs/msg/VehicleLocation.msg     |   3 +
 ros/src/msgs/lgsvl_msgs                       |   2 +-
 ros/src/sensing/drivers/lidar/packages/ouster |   2 +-
 .../sensing/drivers/lidar/packages/robosense  |   2 +-
 .../decision_maker_panel/CMakeLists.txt       |  73 ++
 .../decision_maker_panel/package.xml          |  29 +
 .../plugin_description.xml                    |   9 +
 .../src/decision_maker_panel.cpp              | 329 +++++++
 .../src/decision_maker_panel.h                |  65 ++
 .../state_panel/plugin_description.xml        |   2 +-
 .../runtime_manager/scripts/computing.yaml    | 248 ++---
 82 files changed, 5817 insertions(+), 3562 deletions(-)
 create mode 100644 ros/src/common/libs/amathutils_lib/test/src/test_amathutils_lib.cpp
 create mode 100644 ros/src/common/libs/amathutils_lib/test/test_amathutils_lib.test
 delete mode 100644 ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_drive.hpp
 delete mode 100644 ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_emg.hpp
 delete mode 100644 ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_main.hpp
 create mode 100644 ros/src/computing/planning/decision/packages/decision_maker/README.md
 create mode 100644 ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml
 create mode 100644 ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml
 create mode 100644 ros/src/computing/planning/decision/packages/decision_maker/autoware_state_vehicle.yaml
 create mode 100644 ros/src/computing/planning/decision/packages/decision_maker/docs/DriveStates.jpg
 create mode 100644 ros/src/computing/planning/decision/packages/decision_maker/docs/MissionStates.jpg
 create mode 100644 ros/src/computing/planning/decision/packages/decision_maker/docs/VehicleStates.jpg
 rename ros/src/computing/planning/decision/packages/decision_maker/include/{ => decision_maker}/cross_road_area.hpp (71%)
 create mode 100644 ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker/decision_maker_node.hpp
 rename ros/src/computing/planning/decision/packages/decision_maker/include/{ => decision_maker}/decision_maker_param.hpp (93%)
 delete mode 100644 ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp
 delete mode 100644 ros/src/computing/planning/decision/packages/decision_maker/include/planner_selector.hpp
 delete mode 100644 ros/src/computing/planning/decision/packages/decision_maker/launch/planner_selector.launch
 create mode 100644 ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp
 create mode 100644 ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp
 create mode 100644 ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp
 delete mode 100644 ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_stateupdate.cpp
 delete mode 100644 ros/src/computing/planning/decision/packages/decision_maker/nodes/planner_selector/planner_selector_node.cpp
 create mode 100644 ros/src/computing/planning/decision/packages/decision_maker/test/src/test_class.hpp
 create mode 100644 ros/src/computing/planning/decision/packages/decision_maker/test/src/test_main.cpp
 create mode 100644 ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_decision.cpp
 create mode 100644 ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_state_drive.cpp
 create mode 100644 ros/src/computing/planning/decision/packages/decision_maker/test/test_decision_maker.test
 rename ros/src/computing/planning/mission/packages/lane_planner/{nodes/lane_select => include}/hermite_curve.h (100%)
 rename ros/src/computing/planning/mission/packages/lane_planner/{nodes/lane_select => include}/lane_select_core.h (78%)
 create mode 100644 ros/src/computing/planning/mission/packages/lane_planner/test/src/test_lane_select.cpp
 create mode 100644 ros/src/computing/planning/mission/packages/lane_planner/test/src/test_lane_select.hpp
 create mode 100644 ros/src/computing/planning/mission/packages/lane_planner/test/test_lane_select.test
 create mode 100644 ros/src/computing/planning/motion/packages/waypoint_follower/include/twist_gate/twist_gate.h
 create mode 100644 ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate_node.cpp
 create mode 100644 ros/src/computing/planning/motion/packages/waypoint_follower/test/src/test_twist_gate.cpp
 create mode 100644 ros/src/computing/planning/motion/packages/waypoint_follower/test/src/test_twist_gate.hpp
 create mode 100644 ros/src/computing/planning/motion/packages/waypoint_follower/test/test_twist_gate.test
 create mode 100644 ros/src/msgs/autoware_msgs/msg/VehicleLocation.msg
 create mode 100644 ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/CMakeLists.txt
 create mode 100644 ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/package.xml
 create mode 100644 ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/plugin_description.xml
 create mode 100644 ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.cpp
 create mode 100644 ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.h

diff --git a/ros/src/common/libs/amathutils_lib/CMakeLists.txt b/ros/src/common/libs/amathutils_lib/CMakeLists.txt
index 6e37e295959..3076116eb79 100644
--- a/ros/src/common/libs/amathutils_lib/CMakeLists.txt
+++ b/ros/src/common/libs/amathutils_lib/CMakeLists.txt
@@ -44,3 +44,9 @@ install(TARGETS amathutils_lib
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
         )
+        
+if(CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  add_rostest_gtest(amathutils-test test/test_amathutils_lib.test test/src/test_amathutils_lib.cpp)
+  target_link_libraries(amathutils-test ${catkin_LIBRARIES} amathutils_lib)
+endif()
diff --git a/ros/src/common/libs/amathutils_lib/include/amathutils_lib/amathutils.hpp b/ros/src/common/libs/amathutils_lib/include/amathutils_lib/amathutils.hpp
index 66940806d39..1063d9a2ef2 100644
--- a/ros/src/common/libs/amathutils_lib/include/amathutils_lib/amathutils.hpp
+++ b/ros/src/common/libs/amathutils_lib/include/amathutils_lib/amathutils.hpp
@@ -4,31 +4,25 @@
 #include <cmath>
 #include <iostream>
 
+// ROS Messages
+#include <geometry_msgs/Point.h>
+#include <geometry_msgs/Pose.h>
+#include <tf/tf.h>
+
 using namespace std;
 
 namespace amathutils
 {
-class point
-{
-private:
-public:
-  double x, y, z;
-
-  point(void)
-  {
-    x = y = z = 0.0;
-  }
+#define G_MPSS 9.80665  // m/s^2
 
-  point(double _x, double _y, double _z)
-  {
-    x = _x;
-    y = _y;
-    z = _z;
-  }
-};
-double find_distance(point *_a, point *_b);
-double find_distance(point &_a, point &_b);
-double find_angle(point *_a, point *_b);
+inline double rad2deg(double _angle)
+{
+  return _angle * 180 / M_PI;
+}
+inline double deg2rad(double _angle)
+{
+  return _angle / 180 * M_PI;
+}
 
 inline double mps2kmph(double _mpsval)
 {
@@ -40,25 +34,34 @@ inline double kmph2mps(double _kmphval)
   return (_kmphval * 1000 / 60 / 60);  // kmph * 1000m / 60sec / 60sec
 }
 
-#define G_MPSS 9.80665  // m/s^2
-
-inline double getGravityAcceleration(double acceleration_mpss)
+inline double getGravityAcceleration(double _acceleration_mpss)
 {
-  return acceleration_mpss / G_MPSS;
+  return _acceleration_mpss / G_MPSS;
 }
 
-inline double getAcceleration(double v0, double v, double x)
+inline double getAcceleration(double _v0, double _v, double _x)
 {
-  return (v * v - v0 * v0) / 2 / x;
+  return (_v * _v - _v0 * _v0) / 2 / _x;
 }
 
-inline double getTimefromAcceleration(double v0, double v, double a)
+inline double getTimefromAcceleration(double _v0, double _v, double _a)
 {
-  return (v - v0) / a;
+  return (_v - _v0) / _a;
 }
 
-bool isIntersectLine(double p1x, double p1y, double p2x, double p2y, double p3x, double p3y, double p4x, double p4y);
-
-int isPointLeftFromLine(double p1x, double p1y, double line_p1x, double line_p1y, double line_p2x, double line_p2y);
+geometry_msgs::Point getNearPtOnLine(const geometry_msgs::Point &_p, const geometry_msgs::Point &_a,
+                                     const geometry_msgs::Point &_b);
+double find_distance(const geometry_msgs::Point &_from, const geometry_msgs::Point &_to);
+double find_distance(const geometry_msgs::Pose &_from, const geometry_msgs::Pose &_to);
+double find_angle(const geometry_msgs::Point &_from, const geometry_msgs::Point &_to);
+bool isIntersectLine(const geometry_msgs::Point &_l1_p1, const geometry_msgs::Point &_l1_p2,
+                     const geometry_msgs::Point &_l2_p1, const geometry_msgs::Point &_l2_p2);
+int isPointLeftFromLine(const geometry_msgs::Point &_target, const geometry_msgs::Point &_line_p1,
+                        const geometry_msgs::Point &_line_p2);
+double getPoseYawAngle(const geometry_msgs::Pose &_pose);
+double calcPosesAngleDiffRaw(const geometry_msgs::Pose &p_from, const geometry_msgs::Pose &_p_to);
+double radianNormalize(double _angle);
+double calcPosesAngleDiffDeg(const geometry_msgs::Pose &_p_from, const geometry_msgs::Pose &_p_to);
+double calcPosesAngleDiffRad(const geometry_msgs::Pose &_p_from, const geometry_msgs::Pose &_p_to);
 }
 #endif
diff --git a/ros/src/common/libs/amathutils_lib/src/Amathutils.cpp b/ros/src/common/libs/amathutils_lib/src/Amathutils.cpp
index 57b4c11ffb7..be827ea7ce4 100644
--- a/ros/src/common/libs/amathutils_lib/src/Amathutils.cpp
+++ b/ros/src/common/libs/amathutils_lib/src/Amathutils.cpp
@@ -1,45 +1,118 @@
-#include "amathutils_lib/amathutils.hpp"
+#include <amathutils_lib/amathutils.hpp>
 
 namespace amathutils
 {
-double find_distance(point *_a, point *_b)
+geometry_msgs::Point getNearPtOnLine(const geometry_msgs::Point &_p, const geometry_msgs::Point &_a,
+                                     const geometry_msgs::Point &_b)
 {
-  return std::hypot(std::hypot(_a->x - _b->x, _a->y - _b->y), _a->z - _b->z);
+  double len = find_distance(_a, _b);
+
+  geometry_msgs::Point vnab;
+  geometry_msgs::Point vap;
+  geometry_msgs::Point ret;
+
+  vnab.x = (_b.x - _a.x) / len;
+  vnab.y = (_b.y - _a.y) / len;
+  vnab.z = (_b.z - _a.z) / len;
+
+  vap.x = _p.x - _a.x;
+  vap.y = _p.y - _a.y;
+  vap.z = _p.z - _a.z;
+
+  double dist_ax = vnab.x * vap.x + vnab.y * vap.y + vnab.z * vap.z;
+
+  ret.x = _a.x + (vnab.x * dist_ax);
+  ret.y = _a.y + (vnab.y * dist_ax);
+  ret.z = _a.z + (vnab.z * dist_ax);
+
+  return ret;
 }
-double find_distance(point &_a, point &_b)
+double find_distance(const geometry_msgs::Point &_from, const geometry_msgs::Point &_to)
 {
-  return std::hypot(std::hypot(_a.x - _b.x, _a.y - _b.y), _a.z - _b.z);
+  return std::hypot(std::hypot(_from.x - _to.x, _from.y - _to.y), _from.z - _to.z);
+}
+double find_distance(const geometry_msgs::Pose &_from, const geometry_msgs::Pose &_to)
+{
+  return find_distance(_from.position, _to.position);
 }
 
-double find_angle(point *_a, point *_b)
+double find_angle(const geometry_msgs::Point &_from, const geometry_msgs::Point &_to)
 {
-  double _angle = std::atan2(_b->y - _a->y, _b->x - _a->x);
+  double _angle = std::atan2(_to.y - _from.y, _to.x - _from.x);
   if (_angle < 0.0)
     _angle = _angle + 2 * M_PI;
 
   return _angle * 360 / (2 * M_PI);
 }
 
-bool isIntersectLine(double p1x, double p1y, double p2x, double p2y, double p3x, double p3y, double p4x, double p4y)
+bool isIntersectLine(const geometry_msgs::Point &_l1_p1, const geometry_msgs::Point &_l1_p2,
+                     const geometry_msgs::Point &_l2_p1, const geometry_msgs::Point &_l2_p2)
 {
-  double ta = (p3x - p4x) * (p1y - p3y) + (p3y - p4y) * (p3x - p1x);
-  double tb = (p3x - p4x) * (p2y - p3y) + (p3y - p4y) * (p3x - p2x);
-  double tc = (p1x - p2x) * (p3y - p1y) + (p1y - p2y) * (p1x - p3x);
-  double td = (p1x - p2x) * (p4y - p1y) + (p1y - p2y) * (p1x - p4x);
+  const double ta = (_l2_p1.x - _l2_p2.x) * (_l1_p1.y - _l2_p1.y) + (_l2_p1.y - _l2_p2.y) * (_l2_p1.x - _l1_p1.x);
+  const double tb = (_l2_p1.x - _l2_p2.x) * (_l1_p2.y - _l2_p1.y) + (_l2_p1.y - _l2_p2.y) * (_l2_p1.x - _l1_p2.x);
+  const double tc = (_l1_p1.x - _l1_p2.x) * (_l2_p1.y - _l1_p1.y) + (_l1_p1.y - _l1_p2.y) * (_l1_p1.x - _l2_p1.x);
+  const double td = (_l1_p1.x - _l1_p2.x) * (_l2_p2.y - _l1_p1.y) + (_l1_p1.y - _l1_p2.y) * (_l1_p1.x - _l2_p2.x);
 
   if (tc * td < 0 && ta * tb < 0)
     return true;
   else
     return false;
 }
-#define LEFT 1
-#define RIGHT -1
-#define ONLINE 0
 
-int isPointLeftFromLine(double p1x, double p1y, double line_p1x, double line_p1y, double line_p2x, double line_p2y)
+/*
+ *        |
+ *     .　|       =>LEFT = 1
+ *     　 |   .   =>RIGHT = -1
+ *      　|　
+ */
+
+int isPointLeftFromLine(const geometry_msgs::Point &_target, const geometry_msgs::Point &_line_p1,
+                        const geometry_msgs::Point &_line_p2)
+{
+  const int LEFT = 1;
+  const int RIGHT = -1;
+  const int ONLINE = 0;
+  const double n = _target.x * (_line_p1.y - _line_p2.y) + _line_p1.x * (_line_p2.y - _target.y) +
+                   _line_p2.x * (_target.y - _line_p1.y);
+
+  return n > 0 ? LEFT : n < 0 ? RIGHT : ONLINE;
+}
+
+double getPoseYawAngle(const geometry_msgs::Pose &_pose)
 {
-  double n = p1x * (line_p1y - line_p2y) + line_p1x * (line_p2y - p1y) + line_p2x * (p1y - line_p1y);
+  double r, p, y;
 
-  return n > 0 ? 1 : n < 0 ? -1 : 0;
+  // get Quaternion
+  tf::Quaternion quat(_pose.orientation.x, _pose.orientation.y, _pose.orientation.z, _pose.orientation.w);
+  // converted to RPY[-pi : pi]
+  tf::Matrix3x3(quat).getRPY(r, p, y);
+  return y;
+}
+
+double calcPosesAngleDiffRaw(const geometry_msgs::Pose &p_from, const geometry_msgs::Pose &_p_to)
+{
+  return getPoseYawAngle(p_from) - getPoseYawAngle(_p_to);
+}
+
+double radianNormalize(double _angle)
+{
+  double n_angle = std::fmod(_angle, 2 * M_PI);
+  n_angle = n_angle > M_PI ? n_angle - 2 * M_PI : n_angle < -M_PI ? 2 * M_PI + n_angle : n_angle;
+
+  // another way
+  // Math.atan2(Math.sin(_angle), Math.cos(_angle));
+  return n_angle;
+}
+
+double calcPosesAngleDiffDeg(const geometry_msgs::Pose &_p_from, const geometry_msgs::Pose &_p_to)
+{
+  // convert to [-pi : pi]
+  return rad2deg(radianNormalize(calcPosesAngleDiffRaw(_p_from, _p_to)));
+}
+
+double calcPosesAngleDiffRad(const geometry_msgs::Pose &_p_from, const geometry_msgs::Pose &_p_to)
+{
+  // convert to [-pi : pi]
+  return radianNormalize(calcPosesAngleDiffRaw(_p_from, _p_to));
 }
 }
diff --git a/ros/src/common/libs/amathutils_lib/test/src/test_amathutils_lib.cpp b/ros/src/common/libs/amathutils_lib/test/src/test_amathutils_lib.cpp
new file mode 100644
index 00000000000..7e5229105e8
--- /dev/null
+++ b/ros/src/common/libs/amathutils_lib/test/src/test_amathutils_lib.cpp
@@ -0,0 +1,256 @@
+#include "amathutils_lib/amathutils.hpp"
+#include <ros/ros.h>
+#include <gtest/gtest.h>
+
+#include <geometry_msgs/Point.h>
+#include <geometry_msgs/Pose.h>
+
+class TestSuite: public ::testing::Test {
+public:
+	TestSuite(){}
+	~TestSuite(){}
+};
+
+TEST(TestSuite, Rad2Deg){
+	double radAngle = 1;
+	ASSERT_EQ(amathutils::rad2deg(radAngle), radAngle*180/M_PI) << "Angle in degrees should be " << radAngle*180/M_PI;
+}
+
+TEST(TestSuite, Deg2Rad){
+	double degAngle = 10;
+	ASSERT_EQ(amathutils::deg2rad(degAngle), degAngle*M_PI/180) << "Angle in radians should be " << degAngle*M_PI/180;
+}
+
+// Value from https://www.google.com/search?client=ubuntu&channel=fs&q=mps+to+kph&ie=utf-8&oe=utf-8
+TEST(TestSuite, Transform_mps2kph){
+	double mpsValue = 1;
+	ASSERT_DOUBLE_EQ(amathutils::mps2kmph(mpsValue), mpsValue*3.6) << "Speed should be " << mpsValue*3.6 << "kmph";
+}
+
+// Value from https://www.google.com/search?client=ubuntu&channel=fs&q=kph+to+mps&ie=utf-8&oe=utf-8
+TEST(TestSuite, Transform_kmph2mps){
+	double kmphValue = 1;
+	ASSERT_DOUBLE_EQ(amathutils::kmph2mps(kmphValue), kmphValue/3.6) << "Speed should be " << kmphValue/3.6 << "mps";
+}
+
+TEST(TestSuite, GetGravityAcceleration){
+	double accel = 10.8;
+	ASSERT_DOUBLE_EQ(amathutils::getGravityAcceleration(accel), accel/G_MPSS) << "Acceleration should be " << accel/G_MPSS << "g";
+}
+
+TEST(TestSuite, GetAcceleration){
+	double accel = 5.5;
+	double t = 2;
+	double v0 = 2.5;
+	double v = v0 + accel*t;
+	double x = v0*t + 0.5*accel*t*t;
+	ASSERT_DOUBLE_EQ(amathutils::getAcceleration(v0, v, x), accel) << "Acceleration should be " << accel;
+}
+
+TEST(TestSuite, GetTimeFromAcceleration){
+	double accel = 0.5;
+	double t = 2.8;
+	double v0 = 2;
+	double v = v0 + accel*t;
+	ASSERT_DOUBLE_EQ(amathutils::getTimefromAcceleration(v0, v, accel), t) << "Time should be " << t;
+}
+
+// Values taken from https://gerardnico.com/linear_algebra/closest_point_line - Example 5.4
+TEST(TestSuite, GetNearPointOnLine2D){
+	geometry_msgs::Point a, b, p, nearPOut, nearP;
+
+	a.x = 0;
+	a.y = 0;
+	a.z = 0;
+
+	b.x = 6;
+	b.y = 2;
+	b.z = 0;
+
+	p.x = 2;
+	p.y = 4;
+	p.z = 0;
+
+	nearP.x = 3;
+	nearP.y = 1;
+	nearP.z = 0;
+
+	nearPOut = amathutils::getNearPtOnLine(p, a, b);
+
+	ASSERT_DOUBLE_EQ(nearPOut.x, nearP.x) << "nearPoint coordinate X should be " << nearP.x;
+	ASSERT_DOUBLE_EQ(nearPOut.y, nearP.y) << "nearPoint coordinate X should be " << nearP.y;
+	ASSERT_DOUBLE_EQ(nearPOut.z, nearP.z) << "nearPoint coordinate X should be " << nearP.z;
+
+}
+
+// Values taken from https://math.stackexchange.com/questions/13176/how-to-find-a-point-on-a-line-closest-to-another-given-point
+TEST(TestSuite, GetNearPointOnLine3D){
+	geometry_msgs::Point a, b, p, nearPOut, nearP;
+	double threshold = 0.00000001;
+
+	a.x = -2;
+	a.y = -4;
+	a.z = 5;
+
+	b.x = 0;
+	b.y = 0;
+	b.z = 1;
+
+	p.x = 1;
+	p.y = 1;
+	p.z = 1;
+
+	nearP.x = 1.0/3.0;
+	nearP.y = 2.0/3.0;
+	nearP.z = 1.0/3.0;
+
+	nearPOut = amathutils::getNearPtOnLine(p, a, b);
+
+	ASSERT_NEAR(nearPOut.x, nearP.x, threshold) << "nearPoint coordinate X should be " << nearP.x;
+	ASSERT_NEAR(nearPOut.y, nearP.y, threshold) << "nearPoint coordinate X should be " << nearP.y;
+	ASSERT_NEAR(nearPOut.z, nearP.z, threshold) << "nearPoint coordinate X should be " << nearP.z;
+}
+
+// Values from http://www.math.usm.edu/lambers/mat169/fall09/lecture17.pdf - The Distance Formula
+TEST(TestSuite, GetDistance){
+
+	geometry_msgs::Point ptA, ptB;
+	geometry_msgs::Pose poseA, poseB;
+
+	ptA.x = 2;
+	ptA.y = 3;
+	ptA.z = 1;
+
+	ptB.x = 8;
+	ptB.y = -5;
+	ptB.z = 0;
+
+	poseA.position.x = 2;
+	poseA.position.y = 3;
+	poseA.position.z = 1;
+
+	poseB.position.x = 8;
+	poseB.position.y = -5;
+	poseB.position.z = 0;
+
+	ASSERT_DOUBLE_EQ(amathutils::find_distance(ptA, ptB), sqrt(101)) << "Distance between points should be " << sqrt(101);
+	ASSERT_DOUBLE_EQ(amathutils::find_distance(poseA, poseB), sqrt(101)) << "Distance between poses should be " << sqrt(101);
+}
+
+// Values from https://math.stackexchange.com/questions/707673/find-angle-in-degrees-from-one-point-to-another-in-2d-space
+TEST(TestSuite, GetAngle){
+
+	geometry_msgs::Point ptA, ptB;
+
+	ptA.x = 0;
+	ptA.y = 10;
+	ptA.z = 0;
+
+	ptB.x = 10;
+	ptB.y = 20;
+	ptB.z = 0;
+
+	ASSERT_DOUBLE_EQ(amathutils::find_angle(ptA, ptB), 45) << "Angle should be 45deg";
+	ASSERT_DOUBLE_EQ(amathutils::find_angle(ptB, ptA), 225) << "Angle should be -45deg";
+}
+
+// Values from https://www.mathopenref.com/coordintersection.html
+TEST(TestSuite, LineIntersect){
+
+	geometry_msgs::Point l1_p1, l1_p2, l2_p1, l2_p2;
+	l1_p1.x = 29;
+	l1_p1.y = 5;
+	l1_p1.z = 0;
+	l1_p2.x = 51;
+	l1_p2.y = 15;
+	l1_p2.z = 0;
+	l2_p1.x = 15;
+	l2_p1.y = 10;
+	l2_p1.z = 0;
+	l2_p2.x = 58;
+	l2_p2.y = 10;
+	l2_p2.z = 0;
+
+	ASSERT_TRUE(amathutils::isIntersectLine(l1_p1, l1_p2, l2_p1, l2_p2)) << "Lines intersect";
+}
+
+// Values from https://www.mathopenref.com/coordintersection.html
+TEST(TestSuite, ParallelLines){
+
+	geometry_msgs::Point l1_p1, l1_p2, l2_p1, l2_p2;
+	l1_p1.x = 29;
+	l1_p1.y = 5;
+	l1_p1.z = 0;
+	l1_p2.x = 51;
+	l1_p2.y = 15;
+	l1_p2.z = 0;
+	l2_p1.x = 15;
+	l2_p1.y = 10;
+	l2_p1.z = 0;
+	l2_p2.x = 49;
+	l2_p2.y = 25;
+	l2_p2.z = 0;
+
+	ASSERT_TRUE(!amathutils::isIntersectLine(l1_p1, l1_p2, l2_p1, l2_p2)) << "Parallel lines";
+}
+
+#define LEFT 1
+#define RIGHT -1
+#define ONLINE 0
+
+// 45degree angle line through the origin (0,0)
+TEST(TestSuite, PointOnTheLeft){
+
+	geometry_msgs::Point p1, line_p1, line_p2;
+	p1.x = 1;
+	p1.y = 10;
+	p1.z = 0;
+	line_p1.x = 1;
+	line_p1.y = 1;
+	line_p1.z = 0;
+	line_p2.x = 10;
+	line_p2.y = 10;
+	line_p2.z = 0;
+
+	ASSERT_EQ(amathutils::isPointLeftFromLine(p1, line_p1, line_p2), LEFT) << "Point is on the left";
+}
+
+// 45degree angle line through the origin (0,0)
+TEST(TestSuite, PointOnTheRight){
+
+	geometry_msgs::Point p1, line_p1, line_p2;
+	p1.x = 10;
+	p1.y = 1;
+	p1.z = 0;
+	line_p1.x = 1;
+	line_p1.y = 1;
+	line_p1.z = 0;
+	line_p2.x = 10;
+	line_p2.y = 10;
+	line_p2.z = 0;
+
+	ASSERT_EQ(amathutils::isPointLeftFromLine(p1, line_p1, line_p2), RIGHT) << "Point is on the right";
+}
+
+// 45degree angle line through the origin (0,0)
+TEST(TestSuite, PointOnTheLine){
+
+	geometry_msgs::Point p1, line_p1, line_p2;
+	p1.x = -5;
+	p1.y = -5;
+	p1.z = 0;
+	line_p1.x = 1;
+	line_p1.y = 1;
+	line_p1.z = 0;
+	line_p2.x = 10;
+	line_p2.y = 10;
+	line_p2.z = 0;
+
+	ASSERT_EQ(amathutils::isPointLeftFromLine(p1, line_p1, line_p2), ONLINE) << "Point is on the line ";
+}
+
+int main(int argc, char **argv) {
+	testing::InitGoogleTest(&argc, argv);
+	ros::init(argc, argv, "TestNode");
+	return RUN_ALL_TESTS();
+}
diff --git a/ros/src/common/libs/amathutils_lib/test/test_amathutils_lib.test b/ros/src/common/libs/amathutils_lib/test/test_amathutils_lib.test
new file mode 100644
index 00000000000..edc61caf1cf
--- /dev/null
+++ b/ros/src/common/libs/amathutils_lib/test/test_amathutils_lib.test
@@ -0,0 +1,5 @@
+<launch>
+
+  <test test-name="test-amathutils" pkg="amathutils_lib" type="amathutils-test" name="test"/>
+
+</launch>
\ No newline at end of file
diff --git a/ros/src/common/libs/state_machine_lib/CMakeLists.txt b/ros/src/common/libs/state_machine_lib/CMakeLists.txt
index f84454c0cd5..61a5fd818bd 100644
--- a/ros/src/common/libs/state_machine_lib/CMakeLists.txt
+++ b/ros/src/common/libs/state_machine_lib/CMakeLists.txt
@@ -31,6 +31,7 @@ add_library(state_machine_lib
 
 target_link_libraries(state_machine_lib
         ${catkin_LIBRARIES}
+        -lyaml-cpp
         )
 
 add_dependencies(${TARGET}
diff --git a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state.hpp b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state.hpp
index 948b135c144..f87a1100cab 100644
--- a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state.hpp
+++ b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state.hpp
@@ -1,145 +1,151 @@
 #ifndef __STATE_HPP__
 #define __STATE_HPP__
 
+#include <cassert>
 #include <functional>
 #include <iostream>
 #include <memory>
-#include <state_machine_lib/state_flags.hpp>
 #include <vector>
 
+#include <yaml-cpp/yaml.h>
+#include <state_machine_lib/state_common.hpp>
+#include <state_machine_lib/state_flags.hpp>
+
 namespace state_machine
 {
-class StartState;
-class InitialState;
-class LocateVehicleState;
-
-class DriveState;
-// Accel/Brake subState
-class DriveAccAccelerationState;
-class DriveAccDecelerationState;
-class DriveAccKeepState;
-class DriveAccStopState;
-// Steering subState
-class DriveStrStraightState;
-class DriveStrLeftTurnState;
-class DriveStrRightTurnState;
-
-// Behavior subState
-class DriveBehaviorLaneChangeLeftState;
-class DriveBehaviorLaneChangeRightState;
-class DriveBehaviorObstacleAvoidanceState;
-
-// Perception subState
-class DriveDetectObstacleState;
-class DriveDetectStoplineState;
-class DriveDetectTrafficlightRedState;
-
-class MissionCompleteState;
-class EmergencyState;
-
-// base class
-class BaseState
+class State
 {
-protected:
-  BaseState()
-  {
-  }
+private:
+  std::shared_ptr<State> child_state_;
 
-public:
-  virtual void update(void) = 0;
-  virtual void inState(void) = 0;
-  virtual void outState(void) = 0;
-  virtual void showStateName(void) = 0;
-  virtual uint64_t getStateTransMask(void) = 0;
-  virtual uint64_t getStateNum(void) = 0;
-  virtual std::string getStateName(void) = 0;
-  virtual uint8_t getStateKind(void) = 0;
-  virtual void setCallbackUpdateFunc(std::function<void(void)> _f) = 0;
-  virtual void setCallbackInFunc(std::function<void(void)> _f) = 0;
-  virtual void setCallbackOutFunc(std::function<void(void)> _f) = 0;
-};
+  std::string state_name_;
+  uint64_t state_id_;
 
-// Interface
-template <class T>
-class State : public BaseState
-{
-protected:
-  std::string StateName = "Base";
-  uint64_t StateNum;
-  uint64_t StateTransMask;
-  uint8_t StateKind;
+  std::shared_ptr<State> parent_state_;
+
+  std::function<void(const std::string&)> CallbackUpdateFunc;
+  std::function<void(const std::string&)> CallbackEntryFunc;
+  std::function<void(const std::string&)> CallbackExitFunc;
 
-  std::function<void(void)> StateCallbackUpdateFunc;
-  std::function<void(void)> StateCallbackInFunc;
-  std::function<void(void)> StateCallbackOutFunc;
+  std::map<std::string, uint64_t> transition_map_;
 
-  State()
+  std::string entered_key_;
+
+  void parseChildState(YAML::Node& node);
+
+public:
+  State(std::string _state_name, uint64_t _state_id, std::shared_ptr<State> _parent_state = NULL)
+    : child_state_(NULL), state_name_(_state_name), state_id_(_state_id), parent_state_(_parent_state), entered_key_("")
+  {
+#if 0
+    CallbackUpdateFunc =
+        [&](const std::string &arg) { /*DEBUG_PRINT("[%s]:%s is not registered\n", state_name_.c_str(), "update");*/ };
+    CallbackEntryFunc =
+        [&](const std::string &arg) { /*DEBUG_PRINT("[%s]:%s is not registered\n", state_name_.c_str(), "entry");*/ };
+    CallbackExitFunc =
+        [&](const std::string &arg) { /*DEBUG_PRINT("[%s]:%s is not registered\n", state_name_.c_str(), "exit");*/ };
+#endif
+  }
+  ~State()
   {
-    StateNum = 0;
-    StateTransMask = (uint64_t)STATE_END - 1;
-    StateKind = UNKNOWN_STATE;
   }
 
-public:
-  virtual void update(void)
+  void onUpdate(void)
   {
-    if (StateCallbackUpdateFunc)
-      StateCallbackUpdateFunc();
+    if (child_state_)
+      child_state_->onUpdate();
+
+    if (CallbackUpdateFunc)
+      CallbackUpdateFunc(state_name_);
   }
 
-  virtual void inState(void)
+  void onEntry(void)
   {
-    if (StateCallbackInFunc)
-      StateCallbackInFunc();
+    DEBUG_PRINT("[%s:Entry]\n", state_name_.c_str());
+
+    if (CallbackEntryFunc)
+      CallbackEntryFunc(state_name_);
   }
-  virtual void outState(void)
+  void onExit(void)
   {
-    if (StateCallbackOutFunc)
-      StateCallbackOutFunc();
+    DEBUG_PRINT("[%s:Exit]\n", state_name_.c_str());
+    if (child_state_)
+      child_state_->onExit();
+
+    setChild(nullptr);
+
+    if (CallbackExitFunc)
+      CallbackExitFunc(state_name_);
   }
-  virtual void setCallbackUpdateFunc(std::function<void(void)> _f)
+  void setCallbackUpdate(std::function<void(const std::string&)> _f)
   {
-    StateCallbackUpdateFunc = _f;
+    CallbackUpdateFunc = _f;
   }
-
-  virtual void setCallbackOutFunc(std::function<void(void)> _f)
+  void setCallbackEntry(std::function<void(const std::string&)> _f)
   {
-    StateCallbackOutFunc = _f;
+    CallbackEntryFunc = _f;
   }
 
-  virtual void setCallbackInFunc(std::function<void(void)> _f)
+  void setCallbackExit(std::function<void(const std::string&)> _f)
   {
-    StateCallbackInFunc = _f;
+    CallbackExitFunc = _f;
   }
 
   void showStateName(void)
   {
-    std::cout << StateName << "-";
+    std::cout << state_name_ << "-";
+  }
+  void setParent(std::shared_ptr<State> _parent)
+  {
+    assert(this != _parent.get());
+    parent_state_ = _parent;
   }
 
-  static T* getInstance(void)
+  void setChild(std::shared_ptr<State> _child)
   {
-    static T singleton;
-    return &singleton;
+    assert(this != _child.get());
+    child_state_ = _child;
   }
 
+  std::shared_ptr<State> getParent()
+  {
+    return parent_state_;
+  }
+  std::shared_ptr<State> getChild()
+  {
+    return child_state_;
+  }
   std::string getStateName(void)
   {
-    return std::string(StateName);
+    return std::string(state_name_);
   }
 
-  uint8_t getStateKind(void)
+  void addTransition(const std::string key, const uint64_t val)
   {
-    return StateKind;
+    transition_map_[key] = val;
   }
 
-  uint64_t getStateTransMask(void)
+  uint64_t getTansitionVal(std::string key) const
+  {
+    return transition_map_.at(key);
+  }
+
+  const std::map<std::string, uint64_t>& getTransitionMap(void)
+  {
+    return transition_map_;
+  }
+
+  uint64_t getStateID(void)
+  {
+    return state_id_;
+  }
+  void setEnteredKey(const std::string& key)
   {
-    return StateTransMask;
+    entered_key_ = key;
   }
-  uint64_t getStateNum(void)
+  std::string getEnteredKey(void)
   {
-    return StateNum;
+    return entered_key_;
   }
 };
 }
diff --git a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_common.hpp b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_common.hpp
index 5aa5ce1efd9..2cb26018f4f 100644
--- a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_common.hpp
+++ b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_common.hpp
@@ -1,16 +1,16 @@
 #ifndef __COMMON_HPP__
 #define __COMMON_HPP__
 
-#define DEBUG
+//#define DEBUG
 
 #ifdef DEBUG
-#define DEBUG_PRINT(str)                                                                                               \
+#define DEBUG_PRINT(...)                                                                                               \
   do                                                                                                                   \
   {                                                                                                                    \
-    std::cout << str << std::endl;                                                                                     \
+    fprintf(stderr, __VA_ARGS__);                                                                                      \
   } while (false)
 #else
-#define DEBUG_PRINT(str)                                                                                               \
+#define DEBUG_PRINT(...)                                                                                               \
   do                                                                                                                   \
   {                                                                                                                    \
   } while (false)
diff --git a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp
index 189213358ee..69bc9020fe1 100644
--- a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp
+++ b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp
@@ -10,128 +10,69 @@
 #include <unordered_map>
 #include <utility>
 
-#include "state.hpp"
-#include "state_drive.hpp"
-#include "state_emg.hpp"
-#include "state_main.hpp"
+#include <state_machine_lib/state.hpp>
 
 namespace state_machine
 {
 class StateContext
 {
 private:
-  std::map<uint8_t, uint64_t> HolderMap;
-  std::unordered_map<uint64_t, BaseState *> StateStores;
+  std::shared_ptr<State> root_state_;
+  std::map<uint64_t, std::shared_ptr<State>> state_map_;
+  std::mutex change_state_mutex_;
 
-  bool enableForceSetState;
-  std::queue<uint64_t> ChangeStateFlags;
-  std::atomic<bool> thread_loop;
-
-  std::thread *thr_state_dec;
-  std::mutex change_state_mutex;
+  void showStateMove(uint64_t _state_id)
+  {
+    std::cout << "State will be [" << state_map_[_state_id]->getStateName() << "]" << std::endl;
+  }
+  bool setCurrentState(State* state);
 
-  void showStateMove(uint64_t _state_num)
+  void setParent(uint64_t child, uint64_t parent)
   {
-    std::cout << "State will be [" << StateStores[_state_num]->getStateName() << "]" << std::endl;
+    state_map_[child]->setParent(state_map_[parent]);
   }
-  bool setCurrentState(BaseState *state);
+  uint64_t parseChildState(const YAML::Node& node, uint64_t _id_counter, uint64_t _parent_id);
+  int32_t getStateIDbyName(std::string _name);
+  void setTransitionMap(const YAML::Node& node, const std::shared_ptr<State>& _state);
+
+  std::shared_ptr<State> getStatePtr(const YAML::Node& node);
+  std::shared_ptr<State> getStatePtr(const std::string& _state_name);
+  std::shared_ptr<State> getStatePtr(const uint64_t& _state_id);
+
+  bool isCurrentState(const std::string& state_name);
+
+  std::string dot_output_name;
 
 public:
-  StateContext(void)
+  StateContext(const std::string& file_name, const std::string& msg_name)
   {
-    StateStores[START_STATE] = StartState::getInstance();
-    StateStores[INITIAL_STATE] = InitialState::getInstance();
-    StateStores[INITIAL_LOCATEVEHICLE_STATE] = LocateVehicleState::getInstance();
-    StateStores[DRIVE_STATE] = DriveState::getInstance();
-    StateStores[DRIVE_ACC_ACCELERATION_STATE] = DriveAccAccelerationState::getInstance();
-    StateStores[DRIVE_ACC_DECELERATION_STATE] = DriveAccDecelerationState::getInstance();
-    StateStores[DRIVE_ACC_KEEP_STATE] = DriveAccKeepState::getInstance();
-    StateStores[DRIVE_ACC_STOP_STATE] = DriveAccStopState::getInstance();
-    StateStores[DRIVE_ACC_STOPLINE_STATE] = DriveAccStopLineState::getInstance();
-    StateStores[DRIVE_ACC_CRAWL_STATE] = DriveAccCrawlState::getInstance();
-    StateStores[DRIVE_STR_STRAIGHT_STATE] = DriveStrStraightState::getInstance();
-    StateStores[DRIVE_STR_LEFT_STATE] = DriveStrLeftState::getInstance();
-    StateStores[DRIVE_STR_RIGHT_STATE] = DriveStrRightState::getInstance();
-    StateStores[DRIVE_BEHAVIOR_LANECHANGE_LEFT_STATE] = DriveBehaviorLaneChangeLeftState::getInstance();
-    StateStores[DRIVE_BEHAVIOR_LANECHANGE_RIGHT_STATE] = DriveBehaviorLaneChangeRightState::getInstance();
-    StateStores[DRIVE_BEHAVIOR_TRAFFICLIGHT_RED_STATE] = DriveBehaviorTrafficLightRedState::getInstance();
-    StateStores[DRIVE_BEHAVIOR_TRAFFICLIGHT_GREEN_STATE] = DriveBehaviorTrafficLightGreenState::getInstance();
-    StateStores[DRIVE_BEHAVIOR_OBSTACLE_AVOIDANCE_STATE] = DriveBehaviorObstacleAvoidanceState::getInstance();
-    StateStores[DRIVE_BEHAVIOR_STOPLINE_PLAN_STATE] = DriveBehaviorStoplinePlanState::getInstance();
-    StateStores[DRIVE_BEHAVIOR_ACCEPT_LANECHANGE_STATE] = DriveBehaviorAcceptLanechangeState::getInstance();
-    StateStores[MISSION_COMPLETE_STATE] = MissionCompleteState::getInstance();
-    StateStores[EMERGENCY_STATE] = EmergencyState::getInstance();
-
-    HolderMap[MAIN_STATE] = 0ULL;
-    HolderMap[ACC_STATE] = 0ULL;
-    HolderMap[STR_STATE] = 0ULL;
-    HolderMap[BEHAVIOR_STATE] = 0ULL;
-    HolderMap[PERCEPTION_STATE] = 0ULL;
-    HolderMap[OTHER_STATE] = 0ULL;
-
-    thread_loop = true;
-
-    this->InitContext();
+    createStateMap(file_name, msg_name);
+    root_state_ = getStartState();
+    dot_output_name = "/tmp/" + msg_name + ".dot";
+    createDOTGraph(dot_output_name);
   }
 
   ~StateContext()
   {
-    thread_loop = false;
   }
 
-  void update(void);
-  void inState(uint8_t _kind, uint64_t _prev_state_num);
-  void OutState(uint8_t _kind);
-  void stateDecider(void);
-
-  bool isState(BaseState *base, uint64_t _state_num);
-  bool isCurrentState(uint64_t _state_num);
-  bool isCurrentState(uint8_t _state_kind, uint64_t _state_num);
-  bool isDifferentState(uint64_t _state_a, uint64_t _state_b);
-
-  bool setCurrentState(uint64_t flag);
-  bool disableCurrentState(uint64_t);
-
-  BaseState *getStateObject(const uint64_t &_state_num);
-  std::string getStateName(const uint64_t &_state_num);
-  uint8_t getStateKind(const uint64_t &_state_num);
-
-  BaseState *getCurrentMainState(void);
-  BaseState *getCurrentState(void);
-  std::string getCurrentStateName(void);
-  std::string getStateName(void);
-
-  std::vector<BaseState *> getMultipleStates(uint64_t _state_num_set);
-
-  bool setCallbackInFunc(const uint64_t &_state_num, const std::function<void(void)> &_f);
-  bool setCallbackOutFunc(const uint64_t &_state_num, const std::function<void(void)> &_f);
-  bool setCallbackUpdateFunc(const uint64_t &_state_num, const std::function<void(void)> &_f);
-
-  BaseState **getCurrentStateHolderPtr(uint8_t _kind);
-  BaseState **getCurrentStateHolderPtr(uint64_t _state_num);
-  BaseState **getCurrentStateHolderPtr(BaseState *_state);
-  void showCurrentStateName(void);
-  std::string createStateMessageText(void);
-
-  uint64_t getStateNum(BaseState *_state);
-  uint64_t getStateTransMask(BaseState *_state);
-  bool isEmptyMainState(void);
-  uint8_t getStateKind(BaseState *_state);
-  bool isMainState(BaseState *_state);
-
-  std::string getCurrentStateName(uint8_t kind);
+  void createStateMap(std::string _state_file_name, std::string _msg_name);
+  std::shared_ptr<State> getStartState(void);
 
-  bool setEnableForceSetState(bool force_flag);
-  void InitContext(void);
+  void onUpdate(void);
 
-  bool TFInitialized(void);
+  bool setCallback(const CallbackType& _type, const std::string& _state_name,
+                   const std::function<void(const std::string&)>& _f);
 
-  void handleTrafficLight(uint32_t _light_color);
-  bool handleCurrentPose(double x, double y, double z, double roll, double pitch, double yaw);
-  bool handlePointsRaw(bool _hasLidarData);
+  // visualize
+  void createGraphTransitionList(std::ofstream& outputfile, int idx,
+                                 std::map<uint64_t, std::vector<uint64_t>>& sublist);
+  void createDOTGraph(std::string _file_name);
 
-  bool handleIntersection(bool _hasIntersection, double _angle);
-  bool handleTwistCmd(bool _hasTwistCmd);
+  std::string getStateText();
+  std::string getAvailableTransition(void);
+  void showStateName();
+  void nextState(const std::string& transition_key);
 };
 }
 
diff --git a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_drive.hpp b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_drive.hpp
deleted file mode 100644
index 75ba8e0e069..00000000000
--- a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_drive.hpp
+++ /dev/null
@@ -1,260 +0,0 @@
-#ifndef __STATE_DRIVE_HPP__
-#define __STATE_DRIVE_HPP__
-
-/**
- * @file state_drive.hpp
- * @brief Declaration drive state
- * @author Yusuke Fujii
- * @date 2017/07/27
- */
-
-#include "state.hpp"
-
-namespace state_machine
-{
-// DriveState
-class DriveState : public State<DriveState>
-{
-private:
-  friend class State<DriveState>;
-
-  DriveState(void)
-  {
-    StateName = "Drive";
-    StateNum = StateTransMask = DRIVE_STATE;
-    StateTransMask |= INITIAL_LOCATEVEHICLE_STATE;
-    StateKind = MAIN_STATE;
-  }
-
-public:
-};
-
-class DriveAccAccelerationState : public State<DriveAccAccelerationState>
-{
-private:
-  friend class State<DriveAccAccelerationState>;
-  DriveAccAccelerationState(void)
-  {
-    StateName = "Accelerate";
-    StateNum = DRIVE_ACC_ACCELERATION_STATE;
-    StateKind = ACC_STATE;
-  }
-
-public:
-  void ShowStateName(void)
-  {
-    std::cout << StateName << "-";
-  }
-};
-
-class DriveAccDecelerationState : public State<DriveAccDecelerationState>
-{
-private:
-  friend class State<DriveAccDecelerationState>;
-  DriveAccDecelerationState(void)
-  {
-    StateName = "Decelerate";
-    StateNum = DRIVE_ACC_DECELERATION_STATE;
-    StateKind = ACC_STATE;
-  }
-
-public:
-};
-
-class DriveAccKeepState : public State<DriveAccKeepState>
-{
-private:
-  friend class State<DriveAccKeepState>;
-  DriveAccKeepState(void)
-  {
-    StateName = "Keep";
-    StateNum = DRIVE_ACC_KEEP_STATE;
-    StateKind = ACC_STATE;
-  }
-
-public:
-};
-
-class DriveAccCrawlState : public State<DriveAccCrawlState>
-{
-private:
-  friend class State<DriveAccCrawlState>;
-  DriveAccCrawlState(void)
-  {
-    StateName = "Crawl";
-    StateNum = DRIVE_ACC_CRAWL_STATE;
-    StateKind = ACC_STATE;
-  }
-
-public:
-};
-
-class DriveAccStopState : public State<DriveAccStopState>
-{
-private:
-  friend class State<DriveAccStopState>;
-  DriveAccStopState(void)
-  {
-    StateName = "Stop";
-    StateNum = DRIVE_ACC_STOP_STATE;
-    StateKind = ACC_STATE;
-  }
-
-public:
-};
-
-class DriveAccStopLineState : public State<DriveAccStopLineState>
-{
-private:
-  friend class State<DriveAccStopLineState>;
-  DriveAccStopLineState(void)
-  {
-    StateName = "StopLine";
-    StateNum = DRIVE_ACC_STOPLINE_STATE;
-    StateKind = ACC_STATE;
-  }
-
-public:
-};
-
-class DriveStrLeftState : public State<DriveStrLeftState>
-{
-private:
-  friend class State<DriveStrLeftState>;
-  DriveStrLeftState(void)
-  {
-    StateName = "Left Turn";
-    StateNum = DRIVE_STR_LEFT_STATE;
-    StateKind = STR_STATE;
-  }
-
-public:
-};
-class DriveStrRightState : public State<DriveStrRightState>
-{
-private:
-  friend class State<DriveStrRightState>;
-  DriveStrRightState(void)
-  {
-    StateName = "Right Turn";
-    StateNum = DRIVE_STR_RIGHT_STATE;
-    StateKind = STR_STATE;
-  }
-
-public:
-};
-class DriveStrStraightState : public State<DriveStrStraightState>
-{
-private:
-  friend class State<DriveStrStraightState>;
-  DriveStrStraightState(void)
-  {
-    StateName = "Straight";
-    StateNum = DRIVE_STR_STRAIGHT_STATE;
-    StateKind = STR_STATE;
-  }
-
-public:
-};
-
-// Planning to change str state
-class DriveBehaviorLaneChangeLeftState : public State<DriveBehaviorLaneChangeLeftState>
-{
-private:
-  friend class State<DriveBehaviorLaneChangeLeftState>;
-  DriveBehaviorLaneChangeLeftState(void)
-  {
-    StateName = "LaneChangeLeft";
-    StateNum = DRIVE_BEHAVIOR_LANECHANGE_LEFT_STATE;
-    StateKind = BEHAVIOR_STATE;
-  }
-
-public:
-};
-
-// Planning to change str state
-class DriveBehaviorLaneChangeRightState : public State<DriveBehaviorLaneChangeRightState>
-{
-private:
-  friend class State<DriveBehaviorLaneChangeRightState>;
-  DriveBehaviorLaneChangeRightState(void)
-  {
-    StateName = "LaneChangeRight";
-    StateNum = DRIVE_BEHAVIOR_LANECHANGE_RIGHT_STATE;
-    StateKind = BEHAVIOR_STATE;
-  }
-
-public:
-};
-
-class DriveBehaviorObstacleAvoidanceState : public State<DriveBehaviorObstacleAvoidanceState>
-{
-private:
-  friend class State<DriveBehaviorObstacleAvoidanceState>;
-  DriveBehaviorObstacleAvoidanceState(void)
-  {
-    StateName = "ObstacleAvoidance";
-    StateNum = DRIVE_BEHAVIOR_OBSTACLE_AVOIDANCE_STATE;
-    StateKind = BEHAVIOR_STATE;
-  }
-
-public:
-};
-
-class DriveBehaviorTrafficLightRedState : public State<DriveBehaviorTrafficLightRedState>
-{
-private:
-  friend class State<DriveBehaviorTrafficLightRedState>;
-  DriveBehaviorTrafficLightRedState(void)
-  {
-    StateName = "TrafficLightRed";
-    StateNum = DRIVE_BEHAVIOR_TRAFFICLIGHT_RED_STATE;
-    StateKind = BEHAVIOR_STATE;
-  }
-
-public:
-};
-
-class DriveBehaviorTrafficLightGreenState : public State<DriveBehaviorTrafficLightGreenState>
-{
-private:
-  friend class State<DriveBehaviorTrafficLightGreenState>;
-  DriveBehaviorTrafficLightGreenState(void)
-  {
-    StateName = "TrafficLightGreen";
-    StateNum = DRIVE_BEHAVIOR_TRAFFICLIGHT_GREEN_STATE;
-    StateKind = BEHAVIOR_STATE;
-  }
-
-public:
-};
-
-class DriveBehaviorStoplinePlanState : public State<DriveBehaviorStoplinePlanState>
-{
-private:
-  friend class State<DriveBehaviorStoplinePlanState>;
-  DriveBehaviorStoplinePlanState(void)
-  {
-    StateName = "STOPLINE_PLAN";
-    StateNum = DRIVE_BEHAVIOR_STOPLINE_PLAN_STATE;
-    StateKind = BEHAVIOR_STATE;
-  }
-
-public:
-};
-
-class DriveBehaviorAcceptLanechangeState : public State<DriveBehaviorAcceptLanechangeState>
-{
-private:
-  friend class State<DriveBehaviorAcceptLanechangeState>;
-  DriveBehaviorAcceptLanechangeState(void)
-  {
-    StateName = "AcceptLane-Change";
-    StateNum = DRIVE_BEHAVIOR_ACCEPT_LANECHANGE_STATE;
-    StateKind = BEHAVIOR_STATE;
-  }
-
-public:
-};
-}
-#endif
diff --git a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_emg.hpp b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_emg.hpp
deleted file mode 100644
index 99facbd1501..00000000000
--- a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_emg.hpp
+++ /dev/null
@@ -1,82 +0,0 @@
-#ifndef __STATE_EMG_HPP__
-#define __STATE_EMG_HPP__
-
-#include "state.hpp"
-
-namespace state_machine
-{
-class EmergencyHWState : public State<EmergencyHWState>
-{
-private:
-  friend class State<EmergencyHWState>;
-  EmergencyHWState(void)
-  {
-    StateName = "EmergencyHW";
-    StateTransMask = 0;
-  }
-
-public:
-};
-class EmergencyHWVehicleState : public State<EmergencyHWVehicleState>
-{
-private:
-  friend class State<EmergencyHWVehicleState>;
-  EmergencyHWVehicleState(void)
-  {
-    StateName = "EmergencyHWVehicle";
-    StateTransMask = 0;
-  }
-
-public:
-};
-class EmergencyHWControllerState : public State<EmergencyHWControllerState>
-{
-private:
-  friend class State<EmergencyHWControllerState>;
-  EmergencyHWControllerState(void)
-  {
-    StateName = "EmergencyHWController";
-    StateTransMask = 0;
-  }
-
-public:
-};
-class EmergencySWState : public State<EmergencySWState>
-{
-private:
-  friend class State<EmergencySWState>;
-  EmergencySWState(void)
-  {
-    StateName = "EmergencySW";
-    StateTransMask = 0;
-  }
-
-public:
-};
-class EmergencySWAutowareState : public State<EmergencySWAutowareState>
-{
-private:
-  friend class State<EmergencySWAutowareState>;
-  EmergencySWAutowareState(void)
-  {
-    StateName = "EmergencySWAutoware";
-    StateTransMask = 0;
-  }
-
-public:
-};
-class EmergencySWControllerState : public State<EmergencySWControllerState>
-{
-private:
-  friend class State<EmergencySWControllerState>;
-  EmergencySWControllerState(void)
-  {
-    StateName = "EmergencySWController";
-    StateTransMask = 0;
-  }
-
-public:
-};
-}
-
-#endif
diff --git a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_flags.hpp b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_flags.hpp
index 8174b1db395..6a5c1236cc7 100644
--- a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_flags.hpp
+++ b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_flags.hpp
@@ -3,49 +3,11 @@
 
 namespace state_machine
 {
-enum StateFlags
+enum class CallbackType
 {
-  NULL_STATE = 1ULL << 0,
-  START_STATE = 1ULL << 1,
-  INITIAL_STATE = 1ULL << 2,
-  INITIAL_LOCATEVEHICLE_STATE = 1ULL << 3,
-  DRIVE_STATE = 1ULL << 4,
-  MISSION_COMPLETE_STATE = 1ULL << 5,
-  EMERGENCY_STATE = 1ULL << 6,
-
-  DRIVE_SUB_STATE_START = 1ULL << 10,
-
-  DRIVE_ACC_ACCELERATION_STATE = 1ULL << 11,
-  DRIVE_ACC_DECELERATION_STATE = 1ULL << 12,
-  DRIVE_ACC_KEEP_STATE = 1ULL << 13,
-  DRIVE_ACC_STOP_STATE = 1ULL << 14,
-  DRIVE_ACC_STOPLINE_STATE = 1ULL << 15,
-  DRIVE_ACC_CRAWL_STATE = 1ULL << 16,
-
-  DRIVE_STR_STRAIGHT_STATE = 1ULL << 21,
-  DRIVE_STR_LEFT_STATE = 1ULL << 22,
-  DRIVE_STR_RIGHT_STATE = 1ULL << 23,
-
-  DRIVE_BEHAVIOR_LANECHANGE_LEFT_STATE = 1ULL << 31,
-  DRIVE_BEHAVIOR_LANECHANGE_RIGHT_STATE = 1ULL << 32,
-  DRIVE_BEHAVIOR_OBSTACLE_AVOIDANCE_STATE = 1ULL << 33,
-  DRIVE_BEHAVIOR_TRAFFICLIGHT_RED_STATE = 1ULL << 34,
-  DRIVE_BEHAVIOR_TRAFFICLIGHT_GREEN_STATE = 1ULL << 35,
-  DRIVE_BEHAVIOR_STOPLINE_PLAN_STATE = 1ULL << 36,
-  DRIVE_BEHAVIOR_ACCEPT_LANECHANGE_STATE = 1ULL << 37,
-  STATE_SUB_END = 1ULL << 40,
-  STATE_END = 1ULL << 41,
-};
-
-enum StateKinds
-{
-  MAIN_STATE = 1,
-  ACC_STATE = 2,
-  STR_STATE = 3,
-  BEHAVIOR_STATE = 4,
-  PERCEPTION_STATE = 5,
-  OTHER_STATE = 6,
-  UNKNOWN_STATE = 7,
+  UPDATE,
+  ENTRY,
+  EXIT
 };
 
 enum TrafficLightColors
diff --git a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_main.hpp b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_main.hpp
deleted file mode 100644
index 6385564ffca..00000000000
--- a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_main.hpp
+++ /dev/null
@@ -1,91 +0,0 @@
-#ifndef __STATE_MAIN_HPP__
-#define __STATE_MAIN_HPP__
-
-#include <iostream>
-#include <memory>
-#include <vector>
-
-#include <state_machine_lib/state.hpp>
-
-namespace state_machine
-{
-// StartState
-class StartState : public State<StartState>
-{
-private:
-  friend class State<StartState>;
-  StartState(void)
-  {
-    StateName = "Start";
-    StateNum = START_STATE;
-    StateTransMask = (uint64_t)STATE_END - 1;
-    StateKind = MAIN_STATE;
-  }
-
-public:
-  virtual void update(void) override
-  {
-  }
-};
-
-// InitialState
-class InitialState : public State<InitialState>
-{
-private:
-  friend class State<InitialState>;
-  InitialState(void)
-  {
-    StateName = "Initial";
-    StateNum = StateTransMask = INITIAL_STATE;
-    StateTransMask |= START_STATE | EMERGENCY_STATE | MISSION_COMPLETE_STATE;
-    StateKind = MAIN_STATE;
-  }
-
-public:
-};
-class LocateVehicleState : public State<LocateVehicleState>
-{
-private:
-  friend class State<LocateVehicleState>;
-  LocateVehicleState(void)
-  {
-    StateName = "Locate Vehicle";
-    StateNum = StateTransMask = INITIAL_LOCATEVEHICLE_STATE;
-    StateTransMask |= INITIAL_STATE;
-    StateKind = MAIN_STATE;
-  }
-
-public:
-};
-// MissionCompleteState
-class MissionCompleteState : public State<MissionCompleteState>
-{
-private:
-  friend class State<MissionCompleteState>;
-  MissionCompleteState(void)
-  {
-    StateName = "MissionComplete";
-    StateNum = MISSION_COMPLETE_STATE;
-    StateTransMask = DRIVE_STATE;
-    StateKind = MAIN_STATE;
-  }
-
-public:
-};
-
-// EmergencyState
-class EmergencyState : public State<EmergencyState>
-{
-private:
-  friend class State<EmergencyState>;
-  EmergencyState(void)
-  {
-    StateName = "Emergency";
-    StateTransMask = 0;
-  }
-
-public:
-};
-}
-
-#endif
diff --git a/ros/src/common/libs/state_machine_lib/src/state_context.cpp b/ros/src/common/libs/state_machine_lib/src/state_context.cpp
index 3de8a505619..7b41abad3e8 100644
--- a/ros/src/common/libs/state_machine_lib/src/state_context.cpp
+++ b/ros/src/common/libs/state_machine_lib/src/state_context.cpp
@@ -1,16 +1,17 @@
 #include <sched.h>
+#include <stdlib.h>
 #include <sys/types.h>
 #include <unistd.h>
-#include <thread>
-#include <vector>
-
 #include <cassert>
+#include <memory>
 #include <mutex>
+#include <vector>
+#include <limits>
 
-#include <state_machine_lib/state_context.hpp>
+#include <fstream>
 
 #include <state_machine_lib/state.hpp>
-#include <state_machine_lib/state_common.hpp>
+#include <state_machine_lib/state_context.hpp>
 
 /**
  *
@@ -23,358 +24,332 @@
 
 namespace state_machine
 {
-std::vector<BaseState *> StateContext::getMultipleStates(uint64_t _state_num_set)
+bool StateContext::setCallback(const CallbackType& _type, const std::string& _state_name,
+                               const std::function<void(const std::string&)>& _f)
 {
-  std::vector<BaseState *> ret;
-  for (uint64_t mask = STATE_SUB_END; _state_num_set != 0 && mask != 0; mask >>= 1)
+  bool ret = false;
+  int32_t _state_id = getStateIDbyName(_state_name);
+  if (_state_id != -1 && getStatePtr(static_cast<uint64_t>(_state_id)))
   {
-    if (mask & _state_num_set)
+    switch (_type)
     {
-      ret.push_back(getStateObject(mask));
-      _state_num_set &= ~mask;
+      case CallbackType::UPDATE:
+        getStatePtr(static_cast<uint64_t>(_state_id))->setCallbackUpdate(_f);
+        ret = true;
+        break;
+      case CallbackType::ENTRY:
+        getStatePtr(static_cast<uint64_t>(_state_id))->setCallbackEntry(_f);
+        ret = true;
+        break;
+      case CallbackType::EXIT:
+        getStatePtr(static_cast<uint64_t>(_state_id))->setCallbackExit(_f);
+        ret = true;
+        break;
+      default:
+        break;
     }
   }
   return ret;
 }
+/*****************************/
+/*  Callback                 */
+/*****************************/
 
-void StateContext::update(void)
+void StateContext::onUpdate(void)
 {
-  for (auto &p : HolderMap)
-  {
-    if (p.first == BEHAVIOR_STATE)
-    {
-      for (auto &&state : getMultipleStates(p.second))
-      {
-        state->update();
-      }
-    }
-    else
-    {
-      if (p.second)
-        if (getStateObject(p.second))
-          getStateObject(p.second)->update();
-    }
-  }
+  root_state_->onUpdate();
 }
 
-void StateContext::inState(uint8_t _kind, uint64_t _prev_state_num)
+bool StateContext::isCurrentState(const std::string& state_name)
 {
-  if (_kind > UNKNOWN_STATE)
-  {
-    return;
-  }
-  else if (_kind == BEHAVIOR_STATE)
+  bool ret = false;
+  std::shared_ptr<State> state = root_state_;
+  do
   {
-    for (auto &&state : getMultipleStates(HolderMap[_kind]))
+    if (state->getStateName() == state_name)
     {
-      if (!(_prev_state_num & getStateNum(state)))
-        state->inState();
+      ret = true;
     }
-  }
-  else
-  {
-    if (getStateObject(HolderMap[_kind]))
-      getStateObject(HolderMap[_kind])->inState();
-  }
+    state = state->getChild();
+  } while (state != nullptr);
+  return ret;
 }
 
-BaseState *StateContext::getStateObject(const uint64_t &_state_num)
+void StateContext::nextState(const std::string& transition_key)
 {
-  if (_state_num)
+  std::shared_ptr<State> state = root_state_;
+  std::string _target_state_name;
+  std::vector<std::string> key_list;
+
+  while (state)
   {
-    if (StateStores[_state_num])
+    if (state->getTransitionMap().count(transition_key) != 0)
     {
-      return StateStores[_state_num];
-    }
-  }
-  return nullptr;
-}
+      const uint64_t transition_state_id = state->getTransitionMap().at(transition_key);
+      _target_state_name = state_map_.at(transition_state_id)->getStateName();
 
-bool StateContext::setCallbackUpdateFunc(const uint64_t &_state_num, const std::function<void(void)> &_f)
-{
-  bool ret = false;
-  if (getStateObject(_state_num))
-  {
-    getStateObject(_state_num)->setCallbackUpdateFunc(_f);
-    ret = true;
-  }
+      if (isCurrentState(_target_state_name))
+      {
+        return;
+      }
 
-  return ret;
-}
-bool StateContext::setCallbackInFunc(const uint64_t &_state_num, const std::function<void(void)> &_f)
-{
-  bool ret = false;
-  if (getStateObject(_state_num))
-  {
-    getStateObject(_state_num)->setCallbackInFunc(_f);
-    ret = true;
-  }
-  return ret;
-}
-bool StateContext::setCallbackOutFunc(const uint64_t &_state_num, const std::function<void(void)> &_f)
-{
-  bool ret = false;
-  if (getStateObject(_state_num))
-  {
-    getStateObject(_state_num)->setCallbackOutFunc(_f);
-    ret = true;
+      if (state_map_.at(transition_state_id)->getParent())
+      {
+        DEBUG_PRINT("[Child]:TransitionState: %d -> %d\n", state->getStateID(), transition_state_id);
+
+        std::shared_ptr<State> in_state = root_state_;
+
+        do
+        {
+          if (in_state == state_map_.at(transition_state_id)->getParent())
+          {
+            if (in_state->getChild())
+            {
+              key_list.push_back(in_state->getChild()->getEnteredKey());
+              in_state->getChild()->onExit();
+            }
+            in_state->setChild(state_map_.at(transition_state_id));
+            break;
+          }
+          in_state = in_state->getChild();
+        } while (in_state);
+
+#ifdef DEBUG
+        createDOTGraph(dot_output_name);
+#endif
+        state_map_.at(transition_state_id)->setEnteredKey(transition_key);
+        state_map_.at(transition_state_id)->onEntry();
+      }
+      else
+      {
+        DEBUG_PRINT("[Root]:TransitionState: %d -> %d\n", state->getStateID(), transition_state_id);
+        state->onExit();
+
+        root_state_ = state_map_.at(transition_state_id);
+        root_state_->setChild(nullptr);
+        root_state_->setParent(nullptr);
+        root_state_->setEnteredKey(transition_key);
+#ifdef DEBUG
+        createDOTGraph(dot_output_name);
+#endif
+
+        root_state_->onEntry();
+      }
+      break;
+    }
+    state = state->getChild();
   }
-  return ret;
-}
 
-std::string StateContext::getStateName(const uint64_t &_state_num)
-{
-  if (getStateObject(_state_num))
+  if (isCurrentState(_target_state_name))
   {
-    return getStateObject(_state_num)->getStateName();
+    showStateName();
   }
-  else
-    return "";
 }
 
-uint64_t StateContext::getStateNum(BaseState *_state)
+/*****************************/
+/* Getter/Setter             */
+/*****************************/
+
+void StateContext::createGraphTransitionList(std::ofstream& outputfile, int idx,
+                                             std::map<uint64_t, std::vector<uint64_t>>& sublist)
 {
-  if (_state)
+  if (!sublist[idx].empty() || state_map_.at(idx)->getParent() == NULL)
   {
-    return _state->getStateNum();
+    outputfile << "subgraph cluster_" << idx << "{\n"
+               << "label = \"" << state_map_.at(idx)->getStateName() << "\";\n";
+    if (!state_map_.at(idx)->getParent())
+    {
+      outputfile << "group = 1;\n";
+    }
+
+    for (auto& state : sublist[idx])
+    {
+      createGraphTransitionList(outputfile, state, sublist);
+    }
   }
-  else
-    return 0;
-}
 
-uint8_t StateContext::getStateKind(BaseState *_state)
-{
-  if (_state)
+  for (auto& map : state_map_.at(idx)->getTransitionMap())
   {
-    return _state->getStateKind();
+    if ((state_map_.at(map.second)->getParent() == state_map_.at(idx)->getParent() ||
+         state_map_.at(map.second)->getParent() == state_map_.at(idx)) &&
+        state_map_.at(map.second)->getParent() != NULL)
+    {
+      outputfile << idx << "->" << map.second << " [label=\"" << map.first << "\"];\n";
+    }
   }
-  else
-    return UNKNOWN_STATE;
-}
-
-uint8_t StateContext::getStateKind(const uint64_t &_state_num)
-{
-  if (_state_num)
+  if (!sublist[idx].empty() || state_map_.at(idx)->getParent() == NULL)
   {
-    return getStateKind(getStateObject(_state_num));
+    outputfile << "}\n";
   }
-  return UNKNOWN_STATE;
-}
-
-void StateContext::showCurrentStateName(void)
-{
-  for (auto &p : HolderMap)
+  for (auto& map : state_map_.at(idx)->getTransitionMap())
   {
-    if (p.second)
-      if (getStateObject(p.second))
-        getStateObject(p.second)->showStateName();
+    if ((state_map_.at(map.second)->getParent() != state_map_.at(idx)->getParent() &&
+         state_map_.at(map.second)->getParent() != state_map_.at(idx)) ||
+        state_map_.at(map.second)->getParent() == NULL)
+    {
+      outputfile << idx << "->" << map.second << " [label=\"" << map.first << "\"];\n";
+    }
   }
 }
 
-bool StateContext::isDifferentState(uint64_t _state_a, uint64_t _state_b)
+void StateContext::createDOTGraph(std::string _file_name)
 {
-  return !(_state_a & _state_b);
-}
+  std::ofstream outputfile(_file_name);
+  outputfile << "digraph state_machine_graph {\n"
+             << "dpi = \"192\";\n node [style=filled];\n";
+  std::vector<uint64_t> rootlist;
+  std::map<uint64_t, std::vector<uint64_t>> sublist;
+  std::map<uint64_t, int> layer_map;
 
-bool StateContext::isEmptyMainState(void)
-{
-  if (HolderMap[MAIN_STATE])
-    return false;
-  return true;
-}
-
-uint64_t StateContext::getStateTransMask(BaseState *_state)
-{
-  if (_state)
-    return _state->getStateTransMask();
-  else
-    return 0;
-}
-
-bool StateContext::isMainState(BaseState *_state)
-{
-  return getStateKind(_state) == MAIN_STATE;
-}
-
-bool StateContext::setCurrentState(BaseState *_state)
-{
-  change_state_mutex.lock();
-  bool ret = true;
-  if (_state)
+  // create child list
+  for (auto& state : state_map_)
   {
-    uint64_t prev_state = HolderMap[getStateKind(_state)];
-    bool diff = isDifferentState(getStateNum(_state), HolderMap[getStateKind(_state)]);
-    if (isMainState(_state))
+    outputfile << state.second->getStateID() << "[label=\"" << state.second->getStateName() << "\"";
+
     {
-      if (isEmptyMainState() || enableForceSetState || (getStateTransMask(_state) & HolderMap[MAIN_STATE]))
+      std::shared_ptr<State> temp = root_state_;
+      while (temp)
       {
-        for (auto &state : HolderMap)
+        if (temp->getStateID() == state.second->getStateID())
         {
-          if (state.first == MAIN_STATE)
-          {
-            state.second = getStateNum(_state);
-          }
-          else
-          {
-            state.second = 0ULL;
-          }
+          outputfile << ",color = \"crimson\"";
         }
-      }
-      else
-      {
-        ret = false;
+        temp = temp->getChild();
       }
     }
-    else
+    if (state.second->getParent())
     {
-      if (getStateKind(_state) == BEHAVIOR_STATE)
-      {
-        HolderMap[getStateKind(_state)] |= getStateNum(_state);
-      }
-      else
-      {
-        HolderMap[getStateKind(_state)] = getStateNum(_state);
-      }
+      sublist[state.second->getParent()->getStateID()].push_back(state.second->getStateID());
     }
-    change_state_mutex.unlock();
-    if (ret && diff)
+    else
     {
-      this->inState(getStateKind(_state), prev_state);
-
-      if (getStateKind(_state) == getStateKind(prev_state) && getStateKind(_state) != BEHAVIOR_STATE)
-        if (getStateObject(prev_state))
-          getStateObject(prev_state)->outState();
+      outputfile << ", group = 1";
+      rootlist.push_back(state.second->getStateID());
     }
+    outputfile << "];\n";
   }
-  else
+
+  for (auto& root_idx : rootlist)
   {
-    change_state_mutex.unlock();
-    ret = false;
+    int idx = root_idx;
+    createGraphTransitionList(outputfile, idx, sublist);
   }
-  return ret;
-}
-
-bool StateContext::setCurrentState(uint64_t flag)
-{
-  bool ret = this->setCurrentState(getStateObject(flag));
-  return ret;
-}
 
-bool StateContext::setEnableForceSetState(bool force_flag)
-{
-  enableForceSetState = force_flag;
-  return true;
+  outputfile << "}";
 }
 
-std::string StateContext::getCurrentStateName(void)
+std::shared_ptr<State> StateContext::getStartState()
 {
-  return this->getCurrentStateName(MAIN_STATE);
+  for (auto& state : state_map_)
+  {
+    if (state.second->getStateName() == "Start")
+    {
+      return state.second;
+    }
+  }
+  return nullptr;
 }
 
-std::string StateContext::getCurrentStateName(uint8_t _kind)
+int32_t StateContext::getStateIDbyName(std::string _name)
 {
-  if (HolderMap[_kind])
+  for (const auto& i : state_map_)
   {
-    if (_kind == BEHAVIOR_STATE)
+    if (i.second->getStateName() == _name)
     {
-      uint64_t _current_state = HolderMap[_kind];
-      std::string ret = "";
-      for (uint64_t mask = STATE_SUB_END; _current_state != 0 && mask != 0; mask >>= 1)
-      {
-        if (mask & _current_state)
-        {
-          ret += "\n" + getStateName(mask);
-          _current_state &= ~mask;
-        }
-      }
-      return ret;
-    }
-    else
-    {
-      return getStateName(HolderMap[_kind]);
+      return static_cast<int32_t>(i.second->getStateID());
     }
   }
-  return std::string("");
+  return -1;
 }
 
-BaseState *StateContext::getCurrentMainState(void)
+std::string StateContext::getAvailableTransition(void)
 {
-  return getStateObject(HolderMap[MAIN_STATE]);
-}
+  std::string text;
 
-bool StateContext::disableCurrentState(uint64_t _state_num)
-{
-  if (isMainState(getStateObject(_state_num)))
-  {
-    return false;
-  }
-  if (isCurrentState(_state_num))
+  std::shared_ptr<State> state = root_state_;
+  do
   {
-    HolderMap[getStateKind(_state_num)] &= ~_state_num;
-    getStateObject(_state_num)->outState();
-    return true;
-  }
-  else
-  {
-    return false;
-  }
-}
+    for (const auto& keyval : state->getTransitionMap())
+    {
+      text += keyval.first + ":" + state_map_.at(keyval.second)->getStateName() + ",";
+    }
+    state = state->getChild();
+  } while (state != nullptr);
 
-bool StateContext::isCurrentState(uint64_t _state_num)
-{
-  if (_state_num)
-    return HolderMap[getStateKind(_state_num)] & _state_num;
-  else
-    return false;
+  return text;
 }
 
-bool StateContext::isState(BaseState *base, uint64_t _state_num)
+std::string StateContext::getStateText(void)
 {
-  return base ? base->getStateNum() & _state_num ? true : false : false;
+  std::string text;
+
+  std::shared_ptr<State> state = root_state_;
+  do
+  {
+    text += state->getStateName() + "\n";
+    state = state->getChild();
+  } while (state != nullptr);
+
+  return text;
 }
 
-bool StateContext::handleIntersection(bool _hasIntersection, double _angle)
+void StateContext::setTransitionMap(const YAML::Node& node, const std::shared_ptr<State>& _state)
 {
-  /* deprecated */
-  return false;
+  for (unsigned int j = 0; j < node.size(); j++)
+  {
+    int32_t state_id = getStateIDbyName(node[j]["Target"].as<std::string>());
+    if (state_id == -1)
+      continue;
+
+    _state->addTransition(node[j]["Key"].as<std::string>(), static_cast<uint64_t>(state_id));
+  }
 }
 
-std::string StateContext::createStateMessageText(void)
+void StateContext::showStateName()
 {
-  std::string ret;
-
-  for (auto &p : HolderMap)
+  std::shared_ptr<State> state = root_state_;
+  do
   {
-    if (p.second)
-    {
-      ret = ret + "\n" + getStateName(p.second);
-    }
-  }
-  return ret;
+    state = state->getChild();
+  } while (state != nullptr);
 }
 
-bool StateContext::handleTwistCmd(bool _hasTwistCmd)
+std::shared_ptr<State> StateContext::getStatePtr(const YAML::Node& node)
 {
-  if (_hasTwistCmd)
-    return this->setCurrentState(DRIVE_STATE);
-  else
-    return false;
+  return getStatePtr(node["StateName"].as<std::string>());
 }
 
-void StateContext::stateDecider(void)
+std::shared_ptr<State> StateContext::getStatePtr(const std::string& _state_name)
 {
-  // not running
+  int32_t state_id = getStateIDbyName(_state_name);
+
+  if (_state_name == "~" || state_id == -1)
+    return nullptr;
+  else
+    return getStatePtr(static_cast<uint64_t>(state_id));
 }
 
-void StateContext::InitContext(void)
+std::shared_ptr<State> StateContext::getStatePtr(const uint64_t& _state_id)
 {
-  thr_state_dec = new std::thread(&StateContext::stateDecider, this);
-  thr_state_dec->detach();
-  this->setCurrentState(START_STATE);
-  return;
+  return state_map_.at(_state_id);
 }
-bool StateContext::TFInitialized(void)
+
+void StateContext::createStateMap(std::string _state_file_name, std::string _msg_name)
 {
-  return this->setCurrentState(INITIAL_STATE);
+  const YAML::Node StateYAML = YAML::LoadFile(_state_file_name)[_msg_name];
+
+  // create state
+  for (unsigned int i = 0; i < StateYAML.size(); i++)
+  {
+    state_map_[i] = std::shared_ptr<State>(new State(StateYAML[i]["StateName"].as<std::string>(), i));
+  }
+
+  // set Parent
+  // set transition
+  for (unsigned int i = 0; i < StateYAML.size(); i++)
+  {
+    getStatePtr(StateYAML[i])->setParent(getStatePtr(StateYAML[i]["Parent"].as<std::string>()));
+    setTransitionMap(StateYAML[i]["Transition"], getStatePtr(StateYAML[i]));
+  }
 }
 }
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt b/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt
index 5d3b695007c..f30761c526a 100644
--- a/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt
+++ b/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt
@@ -30,6 +30,8 @@ find_package(catkin REQUIRED COMPONENTS
         autoware_msgs
         autoware_config_msgs
         vector_map_msgs
+        rostest
+        rosunit
         )
 
 catkin_package(
@@ -42,12 +44,11 @@ catkin_package(
         vector_map_msgs
         vector_map
         jsk_recognition_msgs
-        vector_map_msgs
         amathutils_lib
         state_machine_lib
 )
 include_directories(
-        include
+        include/decision_maker
         ${catkin_INCLUDE_DIRS}
         ${vector_map_INCLUDE_DIRS}
         ${autoware_config_msgs_INCLUDE_DIRS}
@@ -60,7 +61,9 @@ add_executable(decision_maker_node
         nodes/decision_maker/decision_maker_node_decision.cpp
         nodes/decision_maker/decision_maker_node_init.cpp
         nodes/decision_maker/decision_maker_node_callback.cpp
-        nodes/decision_maker/decision_maker_node_stateupdate.cpp
+        nodes/decision_maker/decision_maker_node_state_vehicle.cpp
+        nodes/decision_maker/decision_maker_node_state_drive.cpp
+        nodes/decision_maker/decision_maker_node_state_mission.cpp
         nodes/decision_maker/decision_maker_node_publish.cpp
         nodes/decision_maker/cross_road_area.cpp
         )
@@ -68,28 +71,47 @@ target_link_libraries(decision_maker_node
         ${catkin_LIBRARIES}
         ${vector_map_LIBRARIES}
         )
-add_dependencies(decision_maker_node ${catkin_EXPORTED_TARGETS})
-
-# This function will be integrated into decision_maker soon.
-add_executable(planner_selector_node
-        nodes/planner_selector/planner_selector_node.cpp
-        )
-target_link_libraries(planner_selector_node
-        ${catkin_LIBRARIES}
-        )
-add_dependencies(planner_selector_node
-        ${catkin_EXPORTED_TARGETS}
-        )
+add_dependencies(decision_maker_node autoware_msgs_generate_msgs_cpp ${catkin_EXPORTED_TARGETS})
 
-install(TARGETS
-            decision_maker_node
-            planner_selector_node
+install(TARGETS decision_maker_node
         ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
         )
 
-install(DIRECTORY launch
-        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/launch/
+## Install project namespaced headers
+install(DIRECTORY include/${PROJECT_NAME}/
+        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
         PATTERN ".svn" EXCLUDE
         )
+
+install(DIRECTORY launch/
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+        PATTERN ".svn" EXCLUDE
+        )
+
+install(FILES
+        autoware_state_drive.yaml
+        autoware_state_mission.yaml
+        autoware_state_vehicle.yaml
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  add_rostest_gtest(test-decision_maker
+    test/test_decision_maker.test
+    test/src/test_main.cpp
+    test/src/test_node_decision.cpp
+    test/src/test_node_state_drive.cpp
+    nodes/decision_maker/decision_maker_node_core.cpp
+    nodes/decision_maker/decision_maker_node_decision.cpp
+    nodes/decision_maker/decision_maker_node_init.cpp
+    nodes/decision_maker/decision_maker_node_callback.cpp
+    nodes/decision_maker/decision_maker_node_state_vehicle.cpp
+    nodes/decision_maker/decision_maker_node_state_drive.cpp
+    nodes/decision_maker/decision_maker_node_state_mission.cpp
+    nodes/decision_maker/decision_maker_node_publish.cpp
+    nodes/decision_maker/cross_road_area.cpp)
+  add_dependencies(test-decision_maker ${catkin_EXPORTED_TARGETS})
+  target_link_libraries(test-decision_maker ${catkin_LIBRARIES} ${vector_map_LIBRARIES})
+endif()
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/README.md b/ros/src/computing/planning/decision/packages/decision_maker/README.md
new file mode 100644
index 00000000000..2884e619199
--- /dev/null
+++ b/ros/src/computing/planning/decision/packages/decision_maker/README.md
@@ -0,0 +1,166 @@
+# Decision Maker
+
+## Overview
+**This feature is experimental.**</br>
+Autoware package that manages the Vehicle status, given Mission(waypoints) status, and Driving(Motion) status.
+Each status is managed by state machine.
+<!-- Autoware package that visualize internal state and publish some commands. -->
+### Vehicle
+<img src="docs/VehicleStates.jpg" width=300>
+
+### Mission
+<img src="docs/MissionStates.jpg" width=600>
+
+### Driving
+<img src="docs/DriveStates.jpg" width=800>
+
+## Runtime Manager Parameters
+Parameter|Type|Description
+--|---|--
+auto_mission_reload|Bool|(default: *false*)<br>If this is set true, decision maker automatically reloads mission as new mission after previous mission is completed.
+auto_engage|Bool|(default: *false*)<br>If this is set true, decision maker automatically engage immediately after ready to drive.
+auto_mission_change|Bool|(default: *false*)<br>If this is set true, decision maker automatically change the mission(waypoint) without state_cmd when new mission is loaded while driving.
+use_fms|Bool|(default: *false*)<br>This must be true in order to incoorporate with [Autoware Management System](https://github.com/CPFL/AMS)
+disuse_vector_map|Bool|(default: *false*)<br> If set *true*, decision_maker will exit "MapInitState" even if vector map is not successfully loaded.
+num_of_steer_behind|Int|(default: *20*)<br> lookup distance along waypoints to determine steering state(straight, turning right, or turning left)
+change_threshold_dist|Double|(default: *1*)<br> This is relevent only if *use_fms* is *true*.<br> If the distance from vehicle to closest waypoint in the new mission is further than *change_threshold_dist* [m], mission change fails.
+change_threshold_angle|Double|(default:*15*)<br>This is relevent only if *use_fms* is *true*.<br> If the angle from vehicle to closest waypoint in the new mission is further than this *change_threshold_dist* [deg], mission change fails.
+time_to_avoidance|Double|(default: *3*)<br> If the vehicle is stuck for *time_to_avoidance* seconds (e.g. due to obstacles), the state transits to from "Go" to "Avoidance".
+goal_threshold_dist|Double|(default: *3*)<br> Threshold used to check if vehicle has reached to the goal (i.e. end of waypoints). The vehicle must be less than *goal_threshold_dist* [m] to the goal.
+goal_threshold_vel|Double|(default: *0.1*)<br> Threshold used to check if vehicle has reached to the goal (i.e. end of waypoints). The vehicle must be less than *goal_threshold_vel* [m/s] to be treated as goal arrival.
+
+## ROS Parameters
+Parameter|Type|Description
+--|---|--
+state_vehicle_file_name|string|file that defines vehicle state transition
+state_mission_file_name|string|file that defines mission state transition
+state_drive_file_name|string|file that defines drive state transition
+stopline_reset_count|int|This parameter is used if the vehicle stops at the stop line and moves backward without crossing the stop line. When the vehicle moves backward by this count of the waypoints, the stop line is recognized again.
+
+
+## Subscribed topics
+Topic|Type|Objective
+--|---|--
+/based/lane_waypoints_array|autoware_msgs/LaneArray|waypoints for the vehicle to follow. (e.g. waypoints given from waypoint_loader node)
+/change_flag|std_msgs/Int32|Vehicle will try to change lane if this flag is set. Publishes /lamp_cmd to change blinkers according to this flag. (0=straight, 1=right, 2=left)
+/closest_waypoint|std_msgs/Int32|Closest waypoint index in waypoints given by /based/lane_waypoints_array.
+/config/decision_maker|autoware_config_msgs::ConfigDecisionMaker|Parameters set from runtime manager
+/current_pose|geometry_msgs/PoseStamped|Current pose of vehicle
+/current_velocity|geometry_msgs/TwistStamped|Current velocity of vehicle
+/filtered_points|sensor_msgs/PointCloud2|Used to check if sensor data is ready. This is meant to give pointcloud data used for ndt_matching.
+/final_waypoints|autoware_msgs/Lane|resultant waypoints from planner nodes, e.g. from velocity_set node.
+/obstacle_waypoint|std_msgs/Int32|Obstacle waypoint index. Used in "Go" state.
+/state_cmd|std_msgs/String|Decision_maker will try to transit state according to the key given through this topic.
+/vector_map_info/area|vector_map_msgs/AreaArray|Area information from vector map. <br>This is ignored unless area, cross_road, line, point, road_sign, stop_line, and vector are subscribed.
+/vector_map_info/cross_road|vector_map_msgs/CrossRoadArray|Cross road information from vector map. <br>This is ignored unless area, cross_road, line, point, road_sign, stop_line, and vector are subscribed.
+/vector_map_info/line|vector_map_msgs/LineArray|Line information from vector map. <br>This is ignored unless area, cross_road, line, point, road_sign, stop_line, and vector are subscribed.
+/vector_map_info/point|vector_map_msgs/PointArray|Point information from vector map.<br>This is ignored unless area, cross_road, line, point, road_sign, stop_line, and vector are subscribed.  
+/vector_map_info/road_sign|vector_map_msgs/RoadSignArray|Road sign information from vector map. <br>This is ignored unless area, cross_road, line, point, road_sign, stop_line, and vector are subscribed.
+/vector_map_info/stop_line|vector_map_msgs/StopLineArray|Stop line information from vector map.<br>This is ignored unless area, cross_road, line, point, road_sign, stop_line, and vector are subscribed.
+/vector_map_info/vector|vector_map_msgs/VectorArray|Vector information from vector map. <br>This is ignored unless area, cross_road, line, point, road_sign, stop_line, and vector are subscribed.
+
+
+## Published topics
+Topic|Type|Objective
+--|---|--
+/decision_maker/available_transition|std_msgs/String|available transition from current state
+/decision_maker/operator_help_text|jsk_rviz_plugins/OverlayText|Help message during operation
+/decision_maker/state|std_msgs/String|current state for "Vehicle", "Mission", and "Drive" state machine.
+/decision_maker/state_msg|autoware_msgs/State|current state for "Vehicle", "Mission", and "Drive" state machine with header.
+/lamp_cmd|autoware_msgs/LampCmd|blinker command to vehicle (0=straight, 1=right, 2=left)
+/lane_waypoints_array|autoware_msgs/LaneArray|waypoints passed down to following planners. (e.g. lane_rule)
+/light_color_managed|autoware_msgs/TrafficLight|meant to publish light_color status. Not implemented yet.
+/decision_maker/state_overlay|jsk_rviz_plugins/OverlayText|Current state as overlay_txt.
+/state/stopline_wpidx|std_msgs/Int32|Index of waypoint for the vehicle to stop.
+/decision_maker/target_velocity_array|std_msgs/Float64MultiArray| Array of target velocity obtained from final_waypoints.
+
+
+## State Description
+### Vehicle States
+State name|Required topic|Description|Implementation
+--|--|---|--
+Init|-|The parent state of the following states.|-
+SensorInit|/filtered_points|Waits until all sensors are ready.|Waits until /filtered_points is received unless wf_simulator node is launched.  
+MapInit||Waits until vector map is ready|Waits until vector_map is subscribed if disuse_vector_map is set false.
+LocalizationInit|/current_pose|Waits until localizer is ready | Waits until current_pose is converged. (i.e. ndt_matching is stable.)
+PlanningInit|/closest_waypoint|Waits unil planners are ready | Subscriber is set for /closest_waypoint.
+VehicleInit|-|Waits until vehicle is ready for departure.|No implementation goes directly to vehilce ready state.
+VehicleReady|-|Vehicle is ready to move.|Exits to VehicleEmergency when `emergency` key is given by state_cmd from other states, or if `emergency_flag` is set true by other states.
+VehicleEmergency|-|Emergency is detected somewhere in the system. |Waits until `return_from_emergency` or `return_to_ready`  key is by /state_cmd (e.g. by DecisionMakerPanel)
+
+### Mission States
+State name|Required topic|Description|Implementation
+--|--|---|--
+WaitVehicleReady|-|Waits until vehicle setup is done|Waits until vehicle_is_ready key is given from Vehicle State Machine
+WaitOrder|/based_lane_array|wayits until mission is given. | waits until base_lane_array is received.
+MissionCheck|/final_waypoints<br> /current_waypoint|Waits until all the planners are ready. |Waits until /final_waypoints (from planner nodes) and /current_waypoint are received.
+DriveReady|-|Given Mission is approved and vehicle is ready to move. |Waits until engage or mission_canceled key is given.
+Driving|-|The vehicle is driving. According to the planner nodes|Sets operation_start key. Goes to MissionAborted in case of emergency.
+DrivingMissionChange|/based/lane_waypoints_array|Waits for new mission while the vehicle keeps driving. | Waits until new /based/lane_waypoints_array is sent from management system. Then, checks if the waypoint is compatible or not depending on change_threshold_dist and change_threshold_angle parameters. Publish the new mission as /lane_waypoints_array if compatible.
+MissionChangeSucceeded|-|New waypoints are compatible and vehicle will start following the new mission. | Throws return_to_driving key after 1 second if use_fms is set false.
+MissionChangeFailed|-|New waypoints are NOT compatible and vehicle will continue following the old mission. | Throws return_to_driving key after 1 second if use_fms is set false.
+MissionComplete|-|Vehicle has reached the goal.|If use_fms is false and auto_mission_reload is true, go to MissionCheck state. Otherwise, got to WaitOrder state after 1 second.
+MissionAborted|-|Mission is aborted by other nodes(e.g. by AMS). | Throws operation_end to Drving State Machine. Then, go to wait order automatically if use_fms is false, otherwise waits until goto_wait_order key is given by management system.
+
+### Driving States
+State name|Required topic|Description|Implementation
+--|--|---|--
+WaitReady|-|Waits until vehicle setup is done|Waits until vehicle_is_ready key is given from Vehicle State Machine
+WaitEngage|-|Waits for engage button in DecisionMakerPanel to be pressed|Waits until engage key is given by DecisionMakerPanel
+DriveEmergency|-|Vehicle is stopping due to emergency |Throws mission_aborted key
+Drive|/closest_waypoint|Vehicle drives according to the waypoint|mission_aborted key if waypoint is far from the vehicle.(i.e. vehicle moves out of the waypoint) Throws arrived_goal key if vehicle is near the end of the waypoints.  
+LaneArea|/final_waypoints|Vehicle is driving within lanes| Throws on_bus_stop key if waypoint state has bus stop event, otherwise, throws on_cruise key.
+Cruise|-|Vehicle Drives along the waypoint|Throws on_left_turn, on_right_turn, on_straight, lane_change_left, or lane_change_right key depending on waypoint state and change flags.
+Straight|-|Vehicle is driving along lane (i.e. not turning at intersection)| publish /lamp_cmd to clear blinkers
+Stop|-|vehicle is stopping since stop signal is sent from other nodes (e.g. by stop button on decisionMakerPanel)|Publishes /state/stopline_wpidx with the index = closest_waypoint + 1.
+Wait|-|Vehilce is waiting (e.g. due to safety reason)|Publishes /state/stopline_wpidx with the index = closest_waypoint + 1.
+Go|-|Vehicle is moving|Throws found_stopline if stopline is nearby. Throws completely_stopped if vehicle stops due to obstacle.
+StopLine|/vector_map_info/stop_line|Vehicle is stopping due to stop line|Throws clear key after vehicle stops for 0.5 seconds.
+LeftTurn|-|Vehicle is turning left at intersection. Change blinker to left. | Publish /lamp_cmd to change blinker.
+L_Stop|-|Same as Stop State|Same as Stop State
+L_Wait|-|Same as Wait State|Same as Wait State
+L_Go|-|Same as Go State|Same as Go State
+L_StopLine|-|Same as StopLine State|Same as StopLine State
+RightTurn|-|Vehicle is turning right at intersection. Change blinker to right. | Publish /lamp_cmd to change blinker.
+R_Stop|-|Same as Stop State|Same as Stop State
+R_Wait|-|Same as Wait State|Same as Wait State
+R_Go|-|Same as Go State|Same as Go State
+R_StopLine|-|Same as StopLine State|Same as StopLine State  
+Back|-|Vehicle is moving backwards|Publish /lamp_cmd to clear blinkers
+B_Stop|-|Same as Stop State|Same as Stop State
+B_Wait|-|Same as Wait State|Same as Wait State
+B_Go|-|Same as Go State|Same as Go State
+B_StopLine|-|Same as StopLine State|Same as StopLine State
+LeftLaneChange|-|Vehicle is switching to left lane|publish /lamp_cmd to change blinker to left.
+CheckLeftLane|-|Check if it is safe to change lane to left|No implementation.
+ChangeToLeft|-|Change to left lane|No implementation.
+RightLaneChange|-|Vehicle is switching to right lane|publish /lamp_cmd to change blinker to right.
+CheckRightLane|-|Check if it is safe to change lane to left|No implementation.
+ChangeToRight|-|Change to left lane|No implementation.
+BusStop|-|Vehicle is approaching to bus stop(not supported yet)| No implementation.
+PullIn|-|Vehicle is pulling in to bus stop| publish /lamp_cmd to change blinker to left.
+PullOut|-|Vehicle is pulling out from bus stop|publish /lamp_cmd to change blinker to right.
+FreeArea|-|Vehicle is driving in free space(e.g. parking area)(not supported yet)|No implementation.
+Parking|-|Vehicle is parking|Publish /lamp_cmd to change blinker to hazard.  
+
+
+## Basic Usage in Autoware
+
+### Start Driving
+1. Launch Autoware and localization on real vehicle or wf_simulator
+2. Launch `decision_maker` and lane_planner, astar_planner, waypoint_follower
+3. When `VehicleReady` and `WaitOrder` state, launch `waypoint_loader`
+4. On `DriveReady` state, push `Engage` button on DecisionMakerPannel
+5. When the vehicle reaches the end of waypoint and stops, state Mission state transits to `WaitOrder` via the `MissionComplete`
+6. You can repeat from 3. with other waypoint
+
+### Lane change
+  1. Start Normal driving with waypoint files necessary for lane change
+  2. On `CheckLeft` or `RightLane` state, push `Execute LaneChange` button on DecisionMakerPannel
+  3. The vehicle start lane change
+
+### Driving mission change
+  1. Prepare waypoint files to change, and start Normal driving
+  2. On `Driving` state, push `Request mission change` button on DecisionMakerPannel
+  3. When the state becomes `DrivingMissionChange`, please load another waypoint for change
+  4. If it is possible to change the waypoint will switch, otherwise it will not be changed
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml
new file mode 100644
index 00000000000..472efcbceaf
--- /dev/null
+++ b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml
@@ -0,0 +1,350 @@
+---
+autoware_states_drive:
+  -
+    StateName: Start
+    Transition:
+      -
+        Key: started
+        Target: WaitReady
+    Parent: ~
+  -
+    StateName: WaitReady
+    Transition:
+      -
+        Key: vehicle_is_ready
+        Target: WaitEngage
+    Parent: ~
+  -
+    StateName: WaitEngage
+    Transition:
+      -
+        Key: operation_start
+        Target: Drive
+      -
+        Key: emergency
+        Target: DriveEmergency
+    Parent: ~
+  -
+    StateName: DriveEmergency
+    Transition:
+      -
+        Key: return_from_emergency
+        Target: WaitEngage
+      -
+        Key: return_to_ready
+        Target: WaitEngage
+    Parent: ~
+  -
+    StateName: Drive
+    Transition:
+      -
+        Key: on_lane_area
+        Target: LaneArea
+      -
+        Key: on_free_area
+        Target: FreeArea
+      -
+        Key: operation_end
+        Target: WaitEngage
+      -
+        Key: emergency
+        Target: DriveEmergency
+    Parent: ~
+  -
+    StateName: LaneArea
+    Transition:
+      -
+        Key: on_cruise
+        Target: Cruise
+      -
+        Key: on_bus_stop
+        Target: BusStop
+    Parent: Drive
+  -
+    StateName: BusStop
+    Transition:
+      -
+        Key: on_pull_in
+        Target: PullIn
+      -
+        Key: on_pull_out
+        Target: PullOut
+    Parent: LaneArea
+  -
+    StateName: PullIn
+    Transition: []
+    Parent: BusStop
+  -
+    StateName: PullOut
+    Transition: []
+    Parent: BusStop
+  -
+    StateName: Cruise
+    Transition:
+      -
+        Key: on_left_turn
+        Target: LeftTurn
+      -
+        Key: on_right_turn
+        Target: RightTurn
+      -
+        Key: on_straight
+        Target: Straight
+      -
+        Key: on_back
+        Target: Back
+      -
+        Key: lane_change_left
+        Target: LeftLaneChange
+      -
+        Key: lane_change_right
+        Target: RightLaneChange
+    Parent: LaneArea
+  -
+    StateName: LeftTurn
+    Transition:
+      -
+        Key: clear
+        Target: L_Go
+      -
+        Key: found_stopline
+        Target: L_StopLine
+      -
+        Key: wait
+        Target: L_Wait
+      -
+        Key: found_obstacle_in_stopped_area
+        Target: L_Stop
+    Parent: Cruise
+  -
+    StateName: L_Stop
+    Transition:
+      -
+        Key: stopped
+        Target: L_Wait
+    Parent: LeftTurn
+  -
+    StateName: L_StopLine
+    Transition:
+      -
+        Key: clear
+        Target: L_Go
+      -
+        Key: found_risk
+        Target: L_Wait
+    Parent: LeftTurn
+  -
+    StateName: L_Wait
+    Transition:
+      -
+        Key: clear
+        Target: L_Go
+    Parent: LeftTurn
+  -
+    StateName: L_Go
+    Transition:
+      -
+        Key: found_obstacle_on_opposite_lane
+        Target: L_Stop
+      -
+        Key: found_obstacle_in_stopped_area
+        Target: L_Stop
+      -
+        Key: found_stopline
+        Target: L_StopLine
+    Parent: LeftTurn
+  -
+    StateName: RightTurn
+    Transition:
+      -
+        Key: clear
+        Target: R_Go
+      -
+        Key: found_stopline
+        Target: R_StopLine
+      -
+        Key: wait
+        Target: R_Wait
+      -
+        Key: found_obstacle_in_stopped_area
+        Target: R_Stop
+    Parent: Cruise
+  -
+    StateName: R_Stop
+    Transition:
+      -
+        Key: stopped
+        Target: R_Wait
+    Parent: RightTurn
+  -
+    StateName: R_StopLine
+    Transition:
+      -
+        Key: clear
+        Target: R_Go
+      -
+        Key: found_risk
+        Target: R_Wait
+    Parent: RightTurn
+  -
+    StateName: R_Wait
+    Transition:
+      -
+        Key: clear
+        Target: R_Go
+    Parent: RightTurn
+  -
+    StateName: R_Go
+    Transition:
+      -
+        Key: found_obstacle_on_opposite_lane
+        Target: R_Stop
+      -
+        Key: found_obstacle_in_stopped_area
+        Target: R_Stop
+      -
+        Key: found_stopline
+        Target: R_StopLine
+    Parent: RightTurn
+  -
+    StateName: Straight
+    Transition:
+      -
+        Key: clear
+        Target: Go
+      -
+        Key: found_stopline
+        Target: StopLine
+      -
+        Key: wait
+        Target: Wait
+      -
+        Key: found_obstacle_in_stopped_area
+        Target: Stop
+    Parent: Cruise
+  -
+    StateName: Stop
+    Transition:
+      -
+        Key: stopped
+        Target: Wait
+    Parent: Straight
+  -
+    StateName: StopLine
+    Transition:
+      -
+        Key: clear
+        Target: Go
+      - Key: found_risk
+        Target: Wait
+    Parent: Straight
+  -
+    StateName: Wait
+    Transition:
+      -
+        Key: clear
+        Target: Go
+    Parent: Straight
+  -
+    StateName: Go
+    Transition:
+      -
+        Key: found_obstacle_in_stopped_area
+        Target: Stop
+      -
+        Key: found_stopline
+        Target: StopLine
+    Parent: Straight
+  -
+    StateName: Back
+    Transition:
+      -
+        Key: clear
+        Target: B_Go
+      -
+        Key: wait
+        Target: B_Wait
+      -
+        Key: found_obstacle_in_stopped_area
+        Target: B_Stop
+    Parent: Cruise
+  -
+    StateName: B_Stop
+    Transition:
+      -
+        Key: stopped
+        Target: B_Wait
+    Parent: Back
+  -
+    StateName: B_StopLine
+    Transition:
+      -
+        Key: clear
+        Target: B_Go
+      - Key: found_risk
+        Target: B_Wait
+    Parent: Back
+  -
+    StateName: B_Wait
+    Transition:
+      -
+        Key: clear
+        Target: B_Go
+    Parent: Back
+  -
+    StateName: B_Go
+    Transition:
+      -
+        Key: found_obstacle_in_stopped_area
+        Target: B_Stop
+      -
+        Key: found_stopline
+        Target: B_StopLine
+    Parent: Back
+  -
+    StateName: LeftLaneChange
+    Transition:
+      -
+        Key: check_target_lane
+        Target: CheckLeftLane
+    Parent: Cruise
+  -
+    StateName: CheckLeftLane
+    Transition:
+      -
+        Key: execute_lane_change
+        Target: ChangeToLeft
+    Parent: LeftLaneChange
+  -
+    StateName: ChangeToLeft
+    Transition: []
+    Parent: LeftLaneChange
+  -
+    StateName: RightLaneChange
+    Transition:
+      -
+        Key: check_target_lane
+        Target: CheckRightLane
+    Parent: Cruise
+  -
+    StateName: CheckRightLane
+    Transition:
+      -
+        Key: execute_lane_change
+        Target: ChangeToRight
+    Parent: RightLaneChange
+  -
+    StateName: ChangeToRight
+    Transition: []
+    Parent: RightLaneChange
+  -
+    StateName: FreeArea
+    Transition:
+      -
+        Key: on_parking
+        Target: Parking
+    Parent: Drive
+  -
+    StateName: Parking
+    Transition: []
+    Parent: FreeArea
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml
new file mode 100644
index 00000000000..e73ff04f714
--- /dev/null
+++ b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml
@@ -0,0 +1,109 @@
+---
+autoware_states_mission:
+  -
+    StateName: Start
+    Transition:
+      -
+        Key: started
+        Target: WaitVehicleReady
+    Parent: ~
+  -
+    StateName: WaitVehicleReady
+    Transition:
+      -
+        Key: vehicle_is_ready
+        Target: WaitOrder
+    Parent: ~
+  -
+    StateName: WaitOrder
+    Transition:
+      -
+        Key: received_mission_order
+        Target: MissionCheck
+    Parent: ~
+  -
+    StateName: MissionCheck
+    Transition:
+      -
+        Key: mission_is_compatible
+        Target: DriveReady
+      -
+        Key: mission_aborted
+        Target: MissionAborted
+    Parent: ~
+  -
+    StateName: DriveReady
+    Transition:
+      -
+        Key: engage
+        Target: Driving
+      -
+        Key: mission_canceled
+        Target: MissionAborted
+      -
+        Key: emergency
+        Target: MissionAborted
+    Parent: ~
+  -
+    StateName: Driving
+    Transition:
+      -
+        Key: arrived_goal
+        Target: MissionComplete
+      -
+        Key: mission_aborted
+        Target: MissionAborted
+      -
+        Key: emergency
+        Target: MissionAborted
+      -
+        Key: request_mission_change
+        Target: DrivingMissionChange
+    Parent: ~
+  -
+    StateName: DrivingMissionChange
+    Transition:
+      -
+        Key: mission_is_compatible
+        Target: MissionChangeSucceeded
+      -
+        Key: mission_is_conflicting
+        Target: MissionChangeFailed
+    Parent: ~
+  -
+    StateName: MissionChangeSucceeded
+    Transition:
+      -
+        Key: return_to_driving
+        Target: Driving
+    Parent: ~
+  -
+    StateName: MissionChangeFailed
+    Transition:
+      -
+        Key: return_to_driving
+        Target: Driving
+    Parent: ~
+  -
+    StateName: MissionComplete
+    Transition:
+      -
+        Key: goto_wait_order
+        Target: WaitOrder
+      -
+        Key: re_enter_mission
+        Target: DriveReady
+    Parent: ~
+  -
+    StateName: MissionAborted
+    Transition:
+      -
+        Key: goto_wait_order
+        Target: WaitOrder
+      -
+        Key: return_from_emergency
+        Target: WaitVehicleReady
+      -
+        Key: return_to_ready
+        Target: DriveReady
+    Parent: ~
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_vehicle.yaml b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_vehicle.yaml
new file mode 100644
index 00000000000..06c26c609c3
--- /dev/null
+++ b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_vehicle.yaml
@@ -0,0 +1,68 @@
+---
+autoware_states_vehicle:
+  -
+    StateName: Start
+    Transition:
+      -
+        Key: started
+        Target: Init
+    Parent: ~
+  -
+    StateName: Init
+    Transition:
+      -
+        Key: init_start
+        Target: SensorInit
+    Parent: ~
+  -
+    StateName: SensorInit
+    Transition:
+      -
+        Key: sensor_is_ready
+        Target: MapInit
+    Parent: Init
+  -
+    StateName: MapInit
+    Transition:
+      -
+        Key: map_is_ready
+        Target: LocalizationInit
+    Parent: Init
+  -
+    StateName: LocalizationInit
+    Transition:
+      -
+        Key: localization_is_ready
+        Target: PlanningInit
+    Parent: Init
+  -
+    StateName: PlanningInit
+    Transition:
+      -
+        Key: planning_is_ready
+        Target: VehicleInit
+    Parent: Init
+  -
+    StateName: VehicleInit
+    Transition:
+      -
+        Key: vehicle_is_ready
+        Target: VehicleReady
+    Parent: Init
+  -
+    StateName: VehicleReady
+    Transition:
+      -
+        Key: emergency
+        Target: VehicleEmergency
+    Parent: ~
+  -
+    StateName: VehicleEmergency
+    Transition:
+      -
+        Key: return_from_emergency
+        Target: Init
+      -
+        Key: return_to_ready
+        Target: VehicleReady
+    Parent: ~
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/docs/DriveStates.jpg b/ros/src/computing/planning/decision/packages/decision_maker/docs/DriveStates.jpg
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diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/cross_road_area.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker/cross_road_area.hpp
similarity index 71%
rename from ros/src/computing/planning/decision/packages/decision_maker/include/cross_road_area.hpp
rename to ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker/cross_road_area.hpp
index f87139f0570..e50ea34d2d2 100644
--- a/ros/src/computing/planning/decision/packages/decision_maker/include/cross_road_area.hpp
+++ b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker/cross_road_area.hpp
@@ -30,14 +30,14 @@ class CrossRoadArea
     insideWaypoint_points.clear();
   }
 
-  static CrossRoadArea *findClosestCrossRoad(const autoware_msgs::Lane &_finalwaypoints,
-                                             std::vector<CrossRoadArea> &intersects);
-  static bool isInsideArea(const CrossRoadArea *_TargetArea, geometry_msgs::Point pt);
+  static CrossRoadArea* findClosestCrossRoad(const autoware_msgs::Lane& _finalwaypoints,
+                                             std::vector<CrossRoadArea>& intersects);
+  static bool isInsideArea(const CrossRoadArea* _TargetArea, geometry_msgs::Point pt);
 
-  static CrossRoadArea *getCrossRoadArea(std::vector<CrossRoadArea> &areas, int aid)
+  static CrossRoadArea* getCrossRoadArea(std::vector<CrossRoadArea>& areas, int aid)
   {
-    CrossRoadArea *ret = nullptr;
-    for (auto &area : areas)
+    CrossRoadArea* ret = nullptr;
+    for (auto& area : areas)
     {
       if (area.area_id == aid)
       {
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker/decision_maker_node.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker/decision_maker_node.hpp
new file mode 100644
index 00000000000..2d1a2f51e39
--- /dev/null
+++ b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker/decision_maker_node.hpp
@@ -0,0 +1,388 @@
+#ifndef __DECISION_MAKER_NODE__
+#define __DECISION_MAKER_NODE__
+
+#include <unordered_map>
+
+#include <ros/ros.h>
+#include <ros/spinner.h>
+#include <std_msgs/Float64.h>
+#include <std_msgs/Float64MultiArray.h>
+#include <std_msgs/String.h>
+#include <stdio.h>
+#include <random>
+
+#include <geometry_msgs/Point.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/TwistStamped.h>
+#include <jsk_recognition_msgs/BoundingBoxArray.h>
+#include <jsk_recognition_msgs/BoundingBoxArray.h>
+#include <jsk_rviz_plugins/OverlayText.h>
+#include <sensor_msgs/PointCloud2.h>
+#include <std_msgs/Float64.h>
+#include <std_msgs/Float64MultiArray.h>
+#include <std_msgs/Int32.h>
+#include <std_msgs/String.h>
+#include <tf/transform_listener.h>
+#include <tf/transform_listener.h>
+#include <visualization_msgs/MarkerArray.h>
+#include <visualization_msgs/MarkerArray.h>
+
+#include <autoware_config_msgs/ConfigDecisionMaker.h>
+#include <autoware_msgs/CloudClusterArray.h>
+#include <autoware_msgs/Lane.h>
+#include <autoware_msgs/LaneArray.h>
+#include <autoware_msgs/State.h>
+#include <autoware_msgs/TrafficLight.h>
+#include <autoware_msgs/VehicleCmd.h>
+#include <autoware_msgs/Waypoint.h>
+#include <vector_map/vector_map.h>
+
+#include <amathutils_lib/amathutils.hpp>
+#include <cross_road_area.hpp>
+#include <decision_maker_param.hpp>
+#include <state_machine_lib/state_context.hpp>
+
+namespace decision_maker
+{
+using namespace vector_map;
+using cstring_t = const std::string;
+
+enum class E_Lamp : int32_t
+{
+  LAMP_EMPTY = -1,
+  LAMP_CLEAR = 0,
+  LAMP_RIGHT = 1,
+  LAMP_LEFT = 2,
+  LAMP_HAZARD = 3
+};
+enum class E_Control : int32_t
+{
+  KEEP = -1,
+  STOP = 1,
+  DECELERATE = 2,
+  ACCELERATE = 3,
+  OTHERS = 4,
+};
+
+enum class E_ChangeFlags : int32_t
+{
+  STRAIGHT,
+  RIGHT,
+  LEFT,
+
+  UNKNOWN = -1,
+};
+
+inline bool hasvMap(void)
+{
+  return true;
+}
+
+template <class T>
+typename std::underlying_type<T>::type enumToInteger(T t)
+{
+  return static_cast<typename std::underlying_type<T>::type>(t);
+}
+
+struct AutowareStatus
+{
+  std::map<std::string, bool> EventFlags;
+
+  // planning status
+  autoware_msgs::LaneArray using_lane_array;  // with wpstate
+  autoware_msgs::LaneArray based_lane_array;
+  autoware_msgs::Lane finalwaypoints;
+  int closest_waypoint;
+  int obstacle_waypoint;
+  int change_flag;
+
+  // vehicle status
+  geometry_msgs::Pose pose;
+  double velocity;  // kmph
+
+  int found_stopsign_idx;
+  int prev_stopped_wpidx;
+
+  AutowareStatus(void) : closest_waypoint(-1), obstacle_waypoint(-1), velocity(0), found_stopsign_idx(-1), prev_stopped_wpidx(-1)
+  {
+  }
+
+  // control status
+};
+
+class DecisionMakerNode
+{
+  friend class TestClass;
+private:
+  ros::NodeHandle nh_;
+  ros::NodeHandle private_nh_;
+
+  // Publishers
+  std::unordered_map<std::string, ros::Publisher> Pubs;
+  // Subscribers
+  std::unordered_map<std::string, ros::Subscriber> Subs;
+
+  std::shared_ptr<ros::AsyncSpinner> spinners;
+
+  AutowareStatus current_status_;
+
+  std::vector<CrossRoadArea> intersects;
+
+  class DetectionArea
+  {
+  public:
+    double x1, x2;
+    double y1, y2;
+
+    DetectionArea()
+    {
+    }
+  };
+  DetectionArea detectionArea_;
+
+  bool isManualLight;
+
+  // Param
+  bool auto_mission_reload_;
+  bool auto_engage_;
+  bool auto_mission_change_;
+  bool use_fms_;
+  bool disuse_vector_map_;
+  int param_num_of_steer_behind_;
+  double change_threshold_dist_;
+  double change_threshold_angle_;
+  double goal_threshold_dist_;
+  double goal_threshold_vel_;
+  int stopline_reset_count_;
+
+  // initialization method
+  void initROS();
+  void initVectorMap(void);
+
+  void createSubscriber(void);
+  void createPublisher(void);
+
+  // looping method
+  void update(void);
+  void update_msgs(void);
+
+  void publishToVelocityArray();
+
+  void publishOperatorHelpMessage(cstring_t& message);
+  void publishLampCmd(const E_Lamp& status);
+  void publishStoplineWaypointIdx(int wp_idx);
+  void publishLightColor(int status);
+
+  /* decision */
+  void tryNextState(cstring_t& key);
+  bool isArrivedGoal(void);
+  bool isLocalizationConvergence(const geometry_msgs::Point& _current_point);
+  void insertPointWithinCrossRoad(const std::vector<CrossRoadArea>& _intersects, autoware_msgs::LaneArray& lane_array);
+  void setWaypointState(autoware_msgs::LaneArray& lane_array);
+  bool waitForEvent(cstring_t& key, const bool& flag);
+  bool waitForEvent(cstring_t& key, const bool& flag, const double& timeout);
+  bool drivingMissionCheck(void);
+
+  double calcIntersectWayAngle(const autoware_msgs::Lane& laneinArea);
+
+  uint8_t getSteeringStateFromWaypoint(void);
+  uint8_t getEventStateFromWaypoint(void);
+  std::pair<uint8_t, int> getStopSignStateFromWaypoint(void);
+
+  // current decision maker is support only lane area
+  bool isVehicleOnLaneArea(void)
+  {
+    return true;
+  }
+  bool isVehicleOnFreeArea(void)
+  {
+    return false;
+  }
+
+  void setupStateCallback(void);
+
+  /*
+   * state callback
+   **/
+
+  /*** state vehicle ***/
+  // entry callback
+  void entryInitState(cstring_t& state_name, int status);
+  void entrySensorInitState(cstring_t& state_name, int status);
+  void entryMapInitState(cstring_t& state_name, int status);
+  void entryLocalizationInitState(cstring_t& state_name, int status);
+  void entryPlanningInitState(cstring_t& state_name, int status);
+  void entryVehicleInitState(cstring_t& state_name, int status);
+  void entryVehicleReadyState(cstring_t& state_name, int status);
+  void entryVehicleEmergencyState(cstring_t& state_name, int status);
+  // update callback
+  void updateInitState(cstring_t& state_name, int status);
+  void updateSensorInitState(cstring_t& state_name, int status);
+  void updateMapInitState(cstring_t& state_name, int status);
+  void updateLocalizationInitState(cstring_t& state_name, int status);
+  void updatePlanningInitState(cstring_t& state_name, int status);
+  void updateVehicleInitState(cstring_t& state_name, int status);
+  void updateVehicleReadyState(cstring_t& state_name, int status);
+  void updateVehicleEmergencyState(cstring_t& state_name, int status);
+  // exit callback
+
+  /*** state mission ***/
+  // entry callback
+  void entryWaitVehicleReadyState(cstring_t& state_name, int status);
+  void entryWaitOrderState(cstring_t& state_name, int status);
+  void entryMissionCheckState(cstring_t& state_name, int status);
+  void entryDriveReadyState(cstring_t& state_name, int status);
+  void entryDrivingState(cstring_t& state_name, int status);
+  void entryDrivingMissionChangeState(cstring_t& state_name, int status);
+  void entryMissionAbortedState(cstring_t& state_name, int status);
+  void entryMissionCompleteState(cstring_t& state_name, int status);
+  // update callback
+  void updateWaitVehicleReadyState(cstring_t& state_name, int status);
+  void updateWaitOrderState(cstring_t& state_name, int status);
+  void updateMissionCheckState(cstring_t& state_name, int status);
+  void updateDriveReadyState(cstring_t& state_name, int status);
+  void updateDrivingState(cstring_t& state_name, int status);
+  void updateDrivingMissionChangeState(cstring_t& state_name, int status);
+  void updateMissionChangeSucceededState(cstring_t& state_name, int status);
+  void updateMissionChangeFailedState(cstring_t& state_name, int status);
+  void updateMissionCompleteState(cstring_t& state_name, int status);
+  void updateMissionAbortedState(cstring_t& state_name, int status);
+  // exit callback
+  void exitWaitOrderState(cstring_t& state_name, int status);
+  void exitDrivingState(cstring_t& state_name, int status);
+  // void exitWaitMissionOrderState(cstring_t& state_name, int status);
+
+  /*** state drive ***/
+  // entry callback
+  void entryDriveState(cstring_t& state_name, int status);
+  void entryTurnState(cstring_t& state_name, int status);
+  void entryGoState(cstring_t& state_name, int status);
+  void entryLaneChangeState(cstring_t& state_name, int status);
+  void entryDriveEmergencyState(cstring_t& state_name, int status);
+  void entryStopState(cstring_t& state_name, int status);
+  // update callback
+  void updateWaitReadyState(cstring_t& state_name, int status);
+  void updateWaitEngageState(cstring_t& state_name, int status);
+  void updateDriveState(cstring_t& state_name, int status);
+  void updateLaneAreaState(cstring_t& state_name, int status);
+  void updateFreeAreaState(cstring_t& state_name, int status);
+  void updateCruiseState(cstring_t& state_name, int status);
+  void updateBusStopState(cstring_t& state_name, int status);
+  void updateParkingState(cstring_t& state_name, int status);
+  void updateDriveEmergencyState(cstring_t& state_name, int status);
+  void updateLeftTurnState(cstring_t& state_name, int status);
+  void updateRightTurnState(cstring_t& state_name, int status);
+  void updateStraightState(cstring_t& state_name, int status);
+  void updateBackState(cstring_t& state_name, int status);
+  void updateLeftLaneChangeState(cstring_t& state_name, int status);
+  void updateRightLaneChangeState(cstring_t& state_name, int status);
+  void updatePullInState(cstring_t& state_name, int status);
+  void updatePullOutState(cstring_t& state_name, int status);
+  void updateStoplineState(cstring_t& state_name, int status);
+  void updateGoState(cstring_t& state_name, int status);
+  void updateWaitState(cstring_t& state_name, int status);
+  void updateStopState(cstring_t& state_name, int status);
+  void updateCheckLeftLaneState(cstring_t& state_name, int status);
+  void updateCheckRightLaneState(cstring_t& state_name, int status);
+  void updateChangeToLeftState(cstring_t& state_name, int status);
+  void updateChangeToRightState(cstring_t& state_name, int status);
+  // exit callback
+  void exitStopState(cstring_t& state_name, int status);
+  void exitDriveEmergencyState(cstring_t& state_name, int status);
+
+  // callback by topic subscribing
+  void callbackFromFilteredPoints(const sensor_msgs::PointCloud2::ConstPtr& msg);
+  void callbackFromCurrentVelocity(const geometry_msgs::TwistStamped& msg);
+  void callbackFromCurrentPose(const geometry_msgs::PoseStamped& msg);
+  void callbackFromClosestWaypoint(const std_msgs::Int32& msg);
+  void callbackFromLightColor(const ros::MessageEvent<autoware_msgs::TrafficLight const>& event);
+  void callbackFromLaneChangeFlag(const std_msgs::Int32& msg);
+  void callbackFromFinalWaypoint(const autoware_msgs::Lane& msg);
+  void callbackFromLaneWaypoint(const autoware_msgs::LaneArray& msg);
+  void callbackFromSimPose(const geometry_msgs::PoseStamped& msg);
+  void callbackFromConfig(const autoware_config_msgs::ConfigDecisionMaker& msg);
+  void callbackFromStateCmd(const std_msgs::String& msg);
+  void callbackFromObstacleWaypoint(const std_msgs::Int32& msg);
+
+  void setEventFlag(cstring_t& key, const bool& value)
+  {
+    current_status_.EventFlags[key] = value;
+  }
+
+  bool isEventFlagTrue(std::string key)
+  {
+    if (current_status_.EventFlags.count(key) == 0)
+    {
+      current_status_.EventFlags[key] = false;
+    }
+    return current_status_.EventFlags[key];
+  }
+
+public:
+  state_machine::StateContext* ctx_vehicle;
+  state_machine::StateContext* ctx_mission;
+  state_machine::StateContext* ctx_drive;
+  VectorMap g_vmap;
+
+  DecisionMakerNode(int argc, char** argv)
+    : private_nh_("~")
+    , auto_mission_reload_(false)
+    , auto_engage_(false)
+    , auto_mission_change_(false)
+    , use_fms_(false)
+    , disuse_vector_map_(false)
+    , param_num_of_steer_behind_(30)
+    , change_threshold_dist_(1.0)
+    , change_threshold_angle_(15)
+    , goal_threshold_dist_(3.0)
+    , goal_threshold_vel_(0.1)
+    , stopline_reset_count_(20)
+  {
+    std::string file_name_mission;
+    std::string file_name_drive;
+    std::string file_name_vehicle;
+    private_nh_.getParam("state_vehicle_file_name", file_name_vehicle);
+    private_nh_.getParam("state_mission_file_name", file_name_mission);
+    private_nh_.getParam("state_drive_file_name", file_name_drive);
+
+    ctx_vehicle = new state_machine::StateContext(file_name_vehicle, "autoware_states_vehicle");
+    ctx_mission = new state_machine::StateContext(file_name_mission, "autoware_states_mission");
+    ctx_drive = new state_machine::StateContext(file_name_drive, "autoware_states_drive");
+    init();
+    setupStateCallback();
+
+    private_nh_.getParam("auto_mission_reload", auto_mission_reload_);
+    private_nh_.getParam("auto_engage", auto_engage_);
+    private_nh_.getParam("auto_mission_change", auto_mission_change_);
+    private_nh_.getParam("use_fms", use_fms_);
+    private_nh_.getParam("disuse_vector_map", disuse_vector_map_);
+    private_nh_.getParam("param_num_of_steer_behind", param_num_of_steer_behind_);
+    private_nh_.getParam("change_threshold_dist", change_threshold_dist_);
+    private_nh_.getParam("change_threshold_angle", change_threshold_angle_);
+    private_nh_.getParam("goal_threshold_dist", goal_threshold_dist_);
+    private_nh_.getParam("goal_threshold_vel", goal_threshold_vel_);
+    private_nh_.getParam("stopline_reset_count", stopline_reset_count_);
+    current_status_.prev_stopped_wpidx = -1;
+  }
+
+  void init(void);
+  void run(void);
+
+  bool isSubscriberRegistered(cstring_t& topic_name)
+  {
+    return Subs.count(topic_name) ? true : false;
+  }
+
+  static geometry_msgs::Point VMPoint2GeoPoint(const vector_map_msgs::Point& vp)
+  {
+    geometry_msgs::Point gp;
+    gp.x = vp.ly;
+    gp.y = vp.bx;
+    gp.z = vp.h;
+    return gp;
+  }
+};
+
+}  // namespace decision_maker
+
+#endif
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_param.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker/decision_maker_param.hpp
similarity index 93%
rename from ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_param.hpp
rename to ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker/decision_maker_param.hpp
index bf0c0f0f8ba..43899cc8ab6 100644
--- a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_param.hpp
+++ b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker/decision_maker_param.hpp
@@ -30,10 +30,6 @@ namespace decision_maker
 
 #define TPNAME_BASED_LANE_WAYPOINTS_ARRAY "/based/lane_waypoints_array"
 #define TPNAME_CONTROL_LANE_WAYPOINTS_ARRAY "/lane_waypoints_array"
-#define LAMP_EMPTY 0
-#define LAMP_LEFT 1
-#define LAMP_RIGHT 2
-#define LAMP_HAZARD 3
 #define LAMP_ON 1
 #define LAMP_OFF 0
 
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp
deleted file mode 100644
index 18a0aab196d..00000000000
--- a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp
+++ /dev/null
@@ -1,293 +0,0 @@
-#ifndef __DECISION_MAKER_NODE__
-#define __DECISION_MAKER_NODE__
-
-#include <mutex>
-#include <unordered_map>
-
-#include <autoware_config_msgs/ConfigDecisionMaker.h>
-#include <autoware_msgs/CloudClusterArray.h>
-#include <autoware_msgs/LaneArray.h>
-#include <autoware_msgs/Waypoint.h>
-#include <autoware_msgs/Lane.h>
-#include <autoware_msgs/TrafficLight.h>
-#include <geometry_msgs/PoseStamped.h>
-#include <geometry_msgs/TwistStamped.h>
-#include <jsk_recognition_msgs/BoundingBox.h>
-#include <jsk_rviz_plugins/OverlayText.h>
-#include <sensor_msgs/PointCloud2.h>
-#include <std_msgs/Int32.h>
-#include <std_msgs/String.h>
-#include <tf/transform_listener.h>
-
-#include <visualization_msgs/MarkerArray.h>
-
-#include <vector_map_msgs/AreaArray.h>
-#include <vector_map_msgs/CrossRoadArray.h>
-#include <vector_map_msgs/LineArray.h>
-#include <vector_map_msgs/PointArray.h>
-
-#include <vector_map/vector_map.h>
-
-#include <geometry_msgs/Point.h>
-
-// lib
-#include <amathutils_lib/amathutils.hpp>
-#include <cross_road_area.hpp>
-#include <decision_maker_param.hpp>
-#include <state_machine_lib/state.hpp>
-#include <state_machine_lib/state_context.hpp>
-
-namespace decision_maker
-{
-using namespace vector_map;
-
-
-enum class EControl : int32_t
-{
-  KEEP = -1,
-  STOP = 1,
-  DECELERATE = 2,
-  ACCELERATE = 3,
-  OTHERS = 4,
-};
-
-enum class E_ChangeFlags : int32_t
-{
-  STRAIGHT,
-  RIGHT,
-  LEFT,
-
-  UNKNOWN = -1,
-};
-
-inline bool hasvMap(void)
-{
-  return true;
-}
-
-template <class T>
-typename std::underlying_type<T>::type enumToInteger(T t)
-{
-  return static_cast<typename std::underlying_type<T>::type>(t);
-}
-
-
-class DecisionMakerNode
-{
-private:
-  ros::NodeHandle nh_;
-  // Publishers
-  std::unordered_map<std::string, ros::Publisher> Pubs;
-  // Subscribers
-  std::unordered_map<std::string, ros::Subscriber> Subs;
-
-  // ROS Messages
-  std_msgs::String state_string_msg;
-  geometry_msgs::PoseStamped current_pose_;
-
-  jsk_rviz_plugins::OverlayText state_text_msg;
-
-  // ROS Messages(Autoware)
-  autoware_msgs::Lane current_finalwaypoints_;
-  vector_map_msgs::AreaArray vMap_Areas;
-  vector_map_msgs::PointArray vMap_Points;
-  vector_map_msgs::LineArray vMap_Lines;
-  vector_map_msgs::CrossRoadArray vMap_CrossRoads;
-
-  std::vector<geometry_msgs::Point> inside_points_;
-
-  autoware_msgs::LaneArray current_based_lane_array_;       // with wpstate
-  autoware_msgs::LaneArray current_shifted_lane_array_;     // with shiftedLane
-  autoware_msgs::LaneArray current_controlled_lane_array_;  // modified lane
-  autoware_msgs::LaneArray current_stopped_lane_array_;     // 0velocity
-
-  tf::TransformListener tflistener_baselink;
-
-  int closest_stopline_waypoint_;
-
-  // Current way/behavior status
-  double current_velocity_;
-  double average_velocity_;
-  int current_traffic_light_;
-  int closest_waypoint_;
-  CrossRoadArea *ClosestArea_;
-  std::string CurrentStateName;
-  std::string TextOffset;
-  std::vector<CrossRoadArea> intersects;
-  double displacement_from_path_;
-  autoware_msgs::Waypoint CurrentStoplineTarget_;
-
-  bool foundOtherVehicleForIntersectionStop_; // In fact this should be defined as state.
-  class DetectionArea
-  {
-    public:
-      double x1,x2;
-      double y1,y2;
-
-      DetectionArea(){
-      }
-  };
-  DetectionArea detectionArea_;
-
-  bool isManualLight;
-
-  // Param
-  bool enableDisplayMarker;
-  bool enableForceStateChange;
-  uint32_t param_convergence_count_;
-  uint32_t param_target_waypoint_;
-  double param_convergence_threshold_;
-  uint32_t param_stopline_target_waypoint_;
-  double param_stopline_target_ratio_;
-  double param_shift_width_;
-  double param_crawl_velocity_;
-  double param_detection_area_rate_;
-  std::string param_baselink_tf_;
-
-  // for vectormap server
-  // ros::ServiceClient cross_road_cli;
-  // vector_map_server::GetCrossRoad cross_road_srv;
-
-  // initialization flags for initialized by callback
-  bool vector_map_init;
-  bool vMap_Areas_flag;
-  bool vMap_Points_flag;
-  bool vMap_Lines_flag;
-  bool vMap_CrossRoads_flag;
-  bool SimulationMode;
-  std::mutex vMap_mutex;
-  bool created_shift_lane_flag_;
-
-  // initialization method
-  void initROS(int argc, char **argv);
-  void initVectorMap(void);
-  void initStateMsgs(void);
-  bool initVectorMapClient(void);
-
-  // looping method
-  void update(void);
-  void update_msgs(void);
-  void update_pubsub(void);
-  void displayMarker(void);
-
-  void publishToVelocityArray();
-  std::string createStateMessageText();
-  int createCrossRoadAreaMarker(visualization_msgs::Marker &crossroad_marker, double scale);
-
-  // judge method
-  // in near future, these methods will be deprecate to decision_maker library
-  bool isCrossRoadByVectorMapServer(const autoware_msgs::Lane &lane_msg, const geometry_msgs::PoseStamped &pose_msg);
-  bool isLocalizationConvergence(double _x, double _y, double _z, double _roll, double _pitch, double _yaw);
-  bool handleStateCmd(const uint64_t _state_num);
-  // double calcIntersectWayAngle(const CrossRoadArea& area);
-  double calcIntersectWayAngle(const autoware_msgs::Lane &laneinArea);
-
-  void insertPointWithinCrossRoad(const std::vector<CrossRoadArea> &_intersects, autoware_msgs::LaneArray &lane_array);
-
-  void setWaypointState(autoware_msgs::LaneArray &lane_array);
-  double calcPosesAngleDiff(const geometry_msgs::Pose &p_from, const geometry_msgs::Pose &p_to);
-  double calcPosesAngleDiffN(const geometry_msgs::Pose &p_from, const geometry_msgs::Pose &p_to);
-  double getPoseAngle(const geometry_msgs::Pose &p);
-
-  /* for planning according to state*/
-  void publishStoppedLaneArray(void);
-  void publishControlledLaneArray(void);
-  void updateLaneWaypointsArray(void);
-  void changeVelocityBasedLane(void);
-  void changeVelocityLane(int dir);
-  void createShiftLane(void);
-  void changeShiftLane(void);
-  void removeShiftLane(void);
-  void setAllStoplineStop(void);
-  void publishStoplineWaypointIdx(int wp_idx);
-
-
-  // callback by state context
-  void StoplinePlanIn(int status);
-  void StoplinePlanOut(int status);
-  void publishLightColor(int status);
-  void callbackInStateObstacleAvoid(int status);
-  void callbackOutStateObstacleAvoid(int status);
-  void updateStateObstacleAvoid(int status);
-  void updateStateSTR(int status);
-  void updateStateStop(int status);
-  void callbackOutStateStop(int status);
-  void callbackInStateStop(int status);
-  void callbackInStateAcc(int status);
-  void callbackInStateDec(int status);
-  void callbackInStateKeep(int status);
-  void callbackOutStateLaneChange(int status);
-  void setupStateCallback(void);
-  
-  // callback by topic subscribing
-  void callbackFromCurrentVelocity(const geometry_msgs::TwistStamped &msg);
-  void callbackFromCurrentPose(const geometry_msgs::PoseStamped &msg);
-  void callbackFromClosestWaypoint(const std_msgs::Int32 &msg);
-  void callbackFromLightColor(const ros::MessageEvent<autoware_msgs::TrafficLight const> &event);
-  void callbackFromLaneChangeFlag(const std_msgs::Int32 &msg);
-  void callbackFromPointsRaw(const sensor_msgs::PointCloud2::ConstPtr &msg);
-  void callbackFromFinalWaypoint(const autoware_msgs::Lane &msg);
-  void callbackFromLaneWaypoint(const autoware_msgs::LaneArray &msg);
-  void callbackFromTwistCmd(const geometry_msgs::TwistStamped &msg);
-  void callbackFromSimPose(const geometry_msgs::PoseStamped &msg);
-  void callbackFromStateCmd(const std_msgs::Int32 &msg);
-  void callbackFromConfig(const autoware_config_msgs::ConfigDecisionMaker &msg);
-  void callbackFromObjectDetector(const autoware_msgs::CloudClusterArray &msg);
-
-  void callbackFromVectorMapArea(const vector_map_msgs::AreaArray &msg);
-  void callbackFromVectorMapPoint(const vector_map_msgs::PointArray &msg);
-  void callbackFromVectorMapLine(const vector_map_msgs::LineArray &msg);
-  void callbackFromVectorMapCrossRoad(const vector_map_msgs::CrossRoadArray &msg);
-
-public:
-  state_machine::StateContext *ctx;
-  VectorMap g_vmap;
-
-  DecisionMakerNode(int argc, char **argv)
-  {
-    SimulationMode = false;
-    enableDisplayMarker = DEFAULT_DISPLAY_FLAG;
-    param_convergence_threshold_ = DEFAULT_CONVERGENCE_THRESHOLD;
-    param_convergence_count_ = DEFAULT_CONVERGENCE_COUNT;
-    param_target_waypoint_ = DEFAULT_TARGET_WAYPOINT;
-    param_shift_width_ = DEFAULT_SHIFT_WIDTH;
-    param_stopline_target_waypoint_ = DEFAULT_STOPLINE_TARGET_WAYPOINT;
-    param_stopline_target_ratio_ = 0.0;
-    param_crawl_velocity_ = DEFAULT_CRAWL_VELOCITY;
-    param_detection_area_rate_ = DEFAULT_DETECTION_AREA_RATE;
-    param_baselink_tf_ = "base_link";
-    detectionArea_.x1 = DEFAULT_DETECTION_AREA_X1;
-    detectionArea_.x2 = DEFAULT_DETECTION_AREA_X2;
-    detectionArea_.y1 = DEFAULT_DETECTION_AREA_Y1;
-    detectionArea_.y2 = DEFAULT_DETECTION_AREA_Y2;
-
-    ctx = new state_machine::StateContext();
-    this->initROS(argc, argv);
-
-    vector_map_init = false;
-    created_shift_lane_flag_ = false;
-    closest_waypoint_ = 0;
-    
-    foundOtherVehicleForIntersectionStop_ = false; 
-
-    ClosestArea_ = nullptr;
-    displacement_from_path_ = 0.0;
-    isManualLight = false;
-    closest_stopline_waypoint_ = -1;
-  }
-
-  void run(void);
-  geometry_msgs::Point to_geoPoint(const vector_map_msgs::Point &vp)
-  {
-	  geometry_msgs::Point gp;
-	  gp.x = vp.ly;
-	  gp.y = vp.bx;
-	  gp.z = vp.h;
-	  return gp;
-  }
-
-};
-
-}  // namespace decision_maker
-
-#endif
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/planner_selector.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/planner_selector.hpp
deleted file mode 100644
index bf03834af5a..00000000000
--- a/ros/src/computing/planning/decision/packages/decision_maker/include/planner_selector.hpp
+++ /dev/null
@@ -1,69 +0,0 @@
-#ifndef __PLANNER_SELECTOR_HPP__
-#define __PLANNER_SELECTOR_HPP__
-
-#include <autoware_config_msgs/ConfigPlannerSelector.h>
-#include <autoware_msgs/Lane.h>
-#include <ros/ros.h>
-#include <std_msgs/Int32.h>
-
-#include <mutex>
-#include <thread>
-#include <unordered_map>
-
-#include <amathutils_lib/amathutils.hpp>
-
-namespace decision_maker
-{
-#define DEFAULT_LATENCY_NUM 5
-#define DEFAULT_WAYPOINTS_NUM 3
-#define DEFAULT_CONVERGENCE_NUM 2.0
-class PlannerSelector
-{
-private:
-  ros::NodeHandle nh_;
-
-  std::unordered_map<std::string, autoware_msgs::Lane> waypoints_;
-  std::unordered_map<std::string, ros::Publisher> Pubs;
-  std::unordered_map<std::string, ros::Subscriber> Subs;
-
-  autoware_msgs::Lane final_waypoints_dp_;
-  autoware_msgs::Lane final_waypoints_astar_;
-
-  std::unordered_map<std::string, int> closest_waypoints_;
-  int closest_waypoint_astar_;
-  int closest_waypoint_dp_;
-
-  unsigned int way_offset;
-
-  std::mutex _mutex;
-
-  int enableLattice_;
-  bool pastWaypoint;
-  unsigned int config_latency_num_;
-  unsigned int config_waypoints_num_;
-  double config_convergence_num_;
-  double current_velocity_;
-
-  bool existWaypoints(const int _config_waypoints_num);
-
-public:
-  PlannerSelector()
-  {
-    this->initROS();
-    enableLattice_ = 0;
-    pastWaypoint = false;
-    config_latency_num_ = DEFAULT_LATENCY_NUM;
-    config_waypoints_num_ = DEFAULT_WAYPOINTS_NUM;
-    config_convergence_num_ = DEFAULT_CONVERGENCE_NUM;
-  }
-
-  void initROS();
-
-  void callbackFromClosest(const ros::MessageEvent<std_msgs::Int32> &event);
-  void callbackFromWaypoints(const ros::MessageEvent<autoware_msgs::Lane const> &event);
-  void callbackFromLattice(const std_msgs::Int32 &msg);
-  void callbackFromConfig(const autoware_config_msgs::ConfigPlannerSelector &msg);
-  void callbackFromCurrentVelocity(const geometry_msgs::TwistStamped &msg);
-};
-}
-#endif
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/interface.yaml b/ros/src/computing/planning/decision/packages/decision_maker/interface.yaml
index 2fa2ac9e1f8..d843f54b23c 100644
--- a/ros/src/computing/planning/decision/packages/decision_maker/interface.yaml
+++ b/ros/src/computing/planning/decision/packages/decision_maker/interface.yaml
@@ -1,12 +1,8 @@
 - name: /decision_maker_node
   publish: [/state/stopline_wpidx, /state, /lane_waypoints_array, /decisionmaker/states, /light_color_managed,
-    /lamp_cmd, /state/overlay_text, /state/cross_road_marker, /state/cross_inside_marker, /state/crossroad_bbox,
+    /lamp_cmd, /decision_maker/state_overlay, /state/cross_road_marker, /state/cross_inside_marker, /state/crossroad_bbox,
     /state/detection_area, /state/stopline_target, /target_velocity_array, /state/val_diff_distance,
     /state/exectime]
   subscribe: [/sim_pose, /current_pose, /current_velocity, /light_color, /filtered_points, /final_waypoints,
     /twist_cmd, /change_flag, /state_cmd, /closest_waypoint, /cloud_clusters, /config/decision_maker,
     /vector_map_info/*, /based/lane_waypoints_array]
-- name: /planner_selector_node
-  publish: [/final_waypoints, /closest_waypoint]
-  subscribe: [/dp/final_waypoints, /astar/final_waypoints, /enableLattice, /dp/closest_waypoint,
-    /astar/closest_waypoint, /config/PlannerSelector, /current_velocity, ]
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/launch/decision_maker.launch b/ros/src/computing/planning/decision/packages/decision_maker/launch/decision_maker.launch
index 3a7bf225f9a..eb6ec8d28c8 100644
--- a/ros/src/computing/planning/decision/packages/decision_maker/launch/decision_maker.launch
+++ b/ros/src/computing/planning/decision/packages/decision_maker/launch/decision_maker.launch
@@ -1,7 +1,35 @@
 <!-- -->
 <launch>
+  <arg name="state_mission_file_name" default="autoware_state_mission.yaml" />
+  <arg name="state_drive_file_name" default="autoware_state_drive.yaml" />
+  <arg name="state_vehicle_file_name" default="autoware_state_vehicle.yaml" />
+  <arg name="auto_mission_reload" default="false" />
+  <arg name="auto_engage" default="false" />
+  <arg name="auto_mission_change" default="false" />
+  <arg name="use_fms" default="false" />
+  <arg name="disuse_vector_map" default="false" />
+  <arg name="param_num_of_steer_behind" default="30" />
+  <arg name="change_threshold_dist" default="1.0" />
+  <arg name="change_threshold_angle" default="15" />
+  <arg name="goal_threshold_dist" default="3.0" />
+  <arg name="goal_threshold_vel" default="0.1" />
+  <arg name="stopline_reset_count" default="20" />
 
-	<node pkg="decision_maker" type="decision_maker_node" name="decision_maker_node" output="screen">
+  <node pkg="decision_maker" type="decision_maker_node" name="decision_maker" output="screen">
+    <param name ="state_mission_file_name" value="$(find decision_maker)/$(arg state_mission_file_name)"/>
+    <param name ="state_drive_file_name" value="$(find decision_maker)/$(arg state_drive_file_name)"/>
+    <param name ="state_vehicle_file_name" value="$(find decision_maker)/$(arg state_vehicle_file_name)"/>
+    <param name="auto_mission_reload" value="$(arg auto_mission_reload)"/>
+    <param name="auto_engage" value="$(arg auto_engage)"/>
+    <param name="auto_mission_change" value="$(arg auto_mission_change)"/>
+    <param name="use_fms" value="$(arg use_fms)"/>
+    <param name="disuse_vector_map" value="$(arg disuse_vector_map)"/>
+    <param name="param_num_of_steer_behind" value="$(arg param_num_of_steer_behind)"/>
+    <param name="change_threshold_dist" value="$(arg change_threshold_dist)"/>
+    <param name="change_threshold_angle" value="$(arg change_threshold_angle)"/>
+    <param name="goal_threshold_dist" value="$(arg goal_threshold_dist)"/>
+    <param name="goal_threshold_vel" value="$(arg goal_threshold_vel)"/>
+    <param name ="stopline_reset_count" value="$(arg stopline_reset_count)"/>
 	</node>
-	
+
 </launch>
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/launch/planner_selector.launch b/ros/src/computing/planning/decision/packages/decision_maker/launch/planner_selector.launch
deleted file mode 100644
index bf7d42d920f..00000000000
--- a/ros/src/computing/planning/decision/packages/decision_maker/launch/planner_selector.launch
+++ /dev/null
@@ -1,7 +0,0 @@
-<!-- -->
-<launch>
-
-	<node pkg="decision_maker" type="planner_selector_node" name="planner_selector_node" output="screen">
-	</node>
-	
-</launch>
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/cross_road_area.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/cross_road_area.cpp
index 25fae3dcea4..849e8ff66bf 100644
--- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/cross_road_area.cpp
+++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/cross_road_area.cpp
@@ -5,37 +5,32 @@
 namespace decision_maker
 {
 #define TARGET_WAYPOINTS_NUM 15  // need to change rosparam
-CrossRoadArea *CrossRoadArea::findClosestCrossRoad(const autoware_msgs::Lane &_finalwaypoints,
-                                                   std::vector<CrossRoadArea> &intersects)
+CrossRoadArea* CrossRoadArea::findClosestCrossRoad(const autoware_msgs::Lane& _finalwaypoints,
+                                                   std::vector<CrossRoadArea>& intersects)
 {
-  CrossRoadArea *_area = nullptr;
+  CrossRoadArea* _area = nullptr;
 
-  amathutils::point _pa;
-  amathutils::point _pb;
+  geometry_msgs::Point pa;
+  geometry_msgs::Point pb;
 
   double _min_distance = DBL_MAX;
 
   if (!_finalwaypoints.waypoints.empty())
   {
-    _pa.x = _finalwaypoints.waypoints[TARGET_WAYPOINTS_NUM].pose.pose.position.x;
-    _pa.y = _finalwaypoints.waypoints[TARGET_WAYPOINTS_NUM].pose.pose.position.y;
-    _pa.z = 0.0;
+    pa = _finalwaypoints.waypoints[TARGET_WAYPOINTS_NUM].pose.pose.position;
   }
 
   for (size_t i = 0; i < intersects.size(); i++)
   {
-    _pb.x = intersects[i].bbox.pose.position.x;
-    _pb.y = intersects[i].bbox.pose.position.y;
+    pb = intersects[i].bbox.pose.position;
 
-    _pb.z = 0.0;
-
-    double __temp_dis = amathutils::find_distance(&_pa, &_pb);
+    const double range_of_waypoint_and_intersection = amathutils::find_distance(pa, pb);
 
     intersects[i].bbox.label = 0;
-    if (_min_distance >= __temp_dis)
+    if (_min_distance >= range_of_waypoint_and_intersection)
     {
       _area = &intersects[i];
-      _min_distance = __temp_dis;  //
+      _min_distance = range_of_waypoint_and_intersection;  //
     }
   }
 
@@ -47,12 +42,12 @@ CrossRoadArea *CrossRoadArea::findClosestCrossRoad(const autoware_msgs::Lane &_f
   return _area;
 }
 
-std::vector<geometry_msgs::Point> convhull(const CrossRoadArea *_TargetArea)
+std::vector<geometry_msgs::Point> convhull(const CrossRoadArea* _TargetArea)
 {
   std::vector<int> enablePoints;
 
-  if(_TargetArea->points.size() < 3)
-	  return {};
+  if (_TargetArea->points.size() < 3)
+    return {};
 
   // Jarvis's March algorithm
   size_t l = 0;
@@ -87,7 +82,7 @@ std::vector<geometry_msgs::Point> convhull(const CrossRoadArea *_TargetArea)
   std::vector<geometry_msgs::Point> point_arrays;
   for (auto p = begin(_TargetArea->points); p != end(_TargetArea->points); p++)
   {
-    for (auto &en : enablePoints)
+    for (auto& en : enablePoints)
     {
       if (std::distance(begin(_TargetArea->points), p) == en)
       {
@@ -98,7 +93,7 @@ std::vector<geometry_msgs::Point> convhull(const CrossRoadArea *_TargetArea)
   return point_arrays;
 }
 
-bool CrossRoadArea::isInsideArea(const CrossRoadArea *_TargetArea, geometry_msgs::Point pt)
+bool CrossRoadArea::isInsideArea(const CrossRoadArea* _TargetArea, geometry_msgs::Point pt)
 {
   std::vector<geometry_msgs::Point> point_arrays = convhull(_TargetArea);
 
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node.cpp
index 2858898da9e..45c34429160 100644
--- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node.cpp
+++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node.cpp
@@ -1,7 +1,6 @@
 #include <decision_maker_node.hpp>
-#include <ros/ros.h>
 
-int main(int argc, char **argv)
+int main(int argc, char** argv)
 {
   ros::init(argc, argv, "decision_maker");
   decision_maker::DecisionMakerNode smn(argc, argv);
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp
index dcbeebf49da..e5857792603 100644
--- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp
+++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp
@@ -1,5 +1,5 @@
-#include <cmath>
 #include <stdio.h>
+#include <cmath>
 
 #include <geometry_msgs/PoseStamped.h>
 #include <jsk_recognition_msgs/BoundingBoxArray.h>
@@ -19,182 +19,61 @@
 
 namespace decision_maker
 {
-void DecisionMakerNode::callbackFromCurrentPose(const geometry_msgs::PoseStamped &msg)
-{
-  geometry_msgs::PoseStamped _pose = current_pose_ = msg;
-  bool initLocalizationFlag = ctx->isCurrentState(state_machine::INITIAL_LOCATEVEHICLE_STATE);
-  if (initLocalizationFlag &&
-      isLocalizationConvergence(_pose.pose.position.x, _pose.pose.position.y, _pose.pose.position.z,
-                                _pose.pose.orientation.x, _pose.pose.orientation.y, _pose.pose.orientation.z))
-  {
-    ROS_INFO("Localization was convergence");
-  }
-}
-
-bool DecisionMakerNode::handleStateCmd(const uint64_t _state_num)
+void DecisionMakerNode::callbackFromFilteredPoints(const sensor_msgs::PointCloud2::ConstPtr& msg)
 {
-  bool _ret;
-  ctx->setEnableForceSetState(true);
-  if (!ctx->isCurrentState(_state_num))
-  {
-    _ret = ctx->setCurrentState((state_machine::StateFlags)_state_num);
-    if(_state_num == state_machine::DRIVE_BEHAVIOR_TRAFFICLIGHT_RED_STATE 
-		    || _state_num == state_machine::DRIVE_BEHAVIOR_TRAFFICLIGHT_GREEN_STATE){
-	    isManualLight = true;
-    }
-  }
-  else
-  {
-    _ret = ctx->disableCurrentState((state_machine::StateFlags)_state_num);
-    if(_state_num == state_machine::DRIVE_BEHAVIOR_TRAFFICLIGHT_RED_STATE 
-		    || _state_num == state_machine::DRIVE_BEHAVIOR_TRAFFICLIGHT_GREEN_STATE){
-	    isManualLight = false;
-    }
-  }
-  ctx->setEnableForceSetState(false);
-
-
-  return _ret;
+  setEventFlag("received_pointcloud_for_NDT", true);
 }
 
-void DecisionMakerNode::callbackFromSimPose(const geometry_msgs::PoseStamped &msg)
+void DecisionMakerNode::callbackFromSimPose(const geometry_msgs::PoseStamped& msg)
 {
   ROS_INFO("Received system is going to simulation mode");
-  handleStateCmd(state_machine::DRIVE_STATE);
   Subs["sim_pose"].shutdown();
 }
 
-void DecisionMakerNode::callbackFromStateCmd(const std_msgs::Int32 &msg)
+void DecisionMakerNode::callbackFromStateCmd(const std_msgs::String& msg)
 {
-  ROS_INFO("Received forcing state changing request: %llx", 1ULL << (uint64_t)msg.data);
-  handleStateCmd((uint64_t)1ULL << (uint64_t)msg.data);
+  //  ROS_INFO("Received State Command");
+  tryNextState(msg.data);
 }
 
-void DecisionMakerNode::callbackFromLaneChangeFlag(const std_msgs::Int32 &msg)
+void DecisionMakerNode::callbackFromLaneChangeFlag(const std_msgs::Int32& msg)
 {
-  if (msg.data == enumToInteger<E_ChangeFlags>(E_ChangeFlags::LEFT) && ctx->isCurrentState(state_machine::DRIVE_BEHAVIOR_ACCEPT_LANECHANGE_STATE))
-  {
-    ctx->disableCurrentState(state_machine::DRIVE_BEHAVIOR_LANECHANGE_RIGHT_STATE);
-    ctx->setCurrentState(state_machine::DRIVE_BEHAVIOR_LANECHANGE_LEFT_STATE);
-  }
-  else if (msg.data == enumToInteger<E_ChangeFlags>(E_ChangeFlags::RIGHT) && ctx->isCurrentState(state_machine::DRIVE_BEHAVIOR_ACCEPT_LANECHANGE_STATE))
-  {
-    ctx->disableCurrentState(state_machine::DRIVE_BEHAVIOR_LANECHANGE_LEFT_STATE);
-    ctx->setCurrentState(state_machine::DRIVE_BEHAVIOR_LANECHANGE_RIGHT_STATE);
-  }
-  else
-  {
-    ctx->disableCurrentState(state_machine::DRIVE_BEHAVIOR_LANECHANGE_RIGHT_STATE);
-    ctx->disableCurrentState(state_machine::DRIVE_BEHAVIOR_LANECHANGE_LEFT_STATE);
-  }
+  current_status_.change_flag = msg.data;
 }
 
-void DecisionMakerNode::callbackFromConfig(const autoware_config_msgs::ConfigDecisionMaker &msg)
+void DecisionMakerNode::callbackFromConfig(const autoware_config_msgs::ConfigDecisionMaker& msg)
 {
   ROS_INFO("Param setted by Runtime Manager");
-  enableDisplayMarker = msg.enable_display_marker;
-  ctx->setEnableForceSetState(msg.enable_force_state_change);
-
-  param_target_waypoint_ = msg.target_waypoint;
-  param_stopline_target_waypoint_ = msg.stopline_target_waypoint;
-  param_stopline_target_ratio_ = msg.stopline_target_ratio;
-  param_shift_width_ = msg.shift_width;
-
-  param_crawl_velocity_ = msg.crawl_velocity;
-  param_detection_area_rate_ = msg.detection_area_rate;
-  param_baselink_tf_ = msg.baselink_tf;
-
-  detectionArea_.x1 = msg.detection_area_x1;
-  detectionArea_.x2 = msg.detection_area_x2;
-  detectionArea_.y1 = msg.detection_area_y1;
-  detectionArea_.y2 = msg.detection_area_y2;
-}
-
-void DecisionMakerNode::callbackFromLightColor(const ros::MessageEvent<autoware_msgs::TrafficLight const> &event)
-{    
-  const autoware_msgs::TrafficLight *light = event.getMessage().get();
-//  const ros::M_string &header = event.getConnectionHeader();
-//  std::string topic = header.at("topic"); 
-  
-  if(!isManualLight){// && topic.find("manage") == std::string::npos){
-	  current_traffic_light_ = light->traffic_light;
-	  if (current_traffic_light_ == state_machine::E_RED || current_traffic_light_ == state_machine::E_YELLOW)
-	  {
-		  ctx->setCurrentState(state_machine::DRIVE_BEHAVIOR_TRAFFICLIGHT_RED_STATE);
-		  ctx->disableCurrentState(state_machine::DRIVE_BEHAVIOR_TRAFFICLIGHT_GREEN_STATE);
-	  }
-	  else
-	  {
-		  ctx->setCurrentState(state_machine::DRIVE_BEHAVIOR_TRAFFICLIGHT_GREEN_STATE);
-		  ctx->disableCurrentState(state_machine::DRIVE_BEHAVIOR_TRAFFICLIGHT_RED_STATE);
-	  }
-  }
+  auto_mission_reload_ = msg.auto_mission_reload;
+  auto_engage_ = msg.auto_engage;
+  auto_mission_change_ = msg.auto_mission_change;
+  use_fms_ = msg.use_fms;
+  param_num_of_steer_behind_ = msg.num_of_steer_behind;
+  change_threshold_dist_ = msg.change_threshold_dist;
+  change_threshold_angle_ = msg.change_threshold_angle;
+  goal_threshold_dist_ = msg.goal_threshold_dist;
+  goal_threshold_vel_ = msg.goal_threshold_vel;
+  disuse_vector_map_ = msg.disuse_vector_map;
 }
 
-void DecisionMakerNode::callbackFromObjectDetector(const autoware_msgs::CloudClusterArray &msg)
+void DecisionMakerNode::callbackFromLightColor(const ros::MessageEvent<autoware_msgs::TrafficLight const>& event)
 {
-  // This function is a quick hack implementation.
-  // If detection result exists in DetectionArea, decisionmaker sets object
-  // detection
-  // flag(foundOthervehicleforintersectionstop).
-  // The flag is referenced in the stopline state, and if it is true it will
-  // continue to stop.
-
-  static double setFlagTime = 0.0;
-  bool l_detection_flag = false;
-  if (ctx->isCurrentState(state_machine::DRIVE_STATE))
-  {
-    if (msg.clusters.size())
-    {
-      // if euclidean_cluster does not use wayarea, it may always founded.
-      for (const auto cluster : msg.clusters)
-      {
-        geometry_msgs::PoseStamped cluster_pose;
-        geometry_msgs::PoseStamped baselink_pose;
-        cluster_pose.pose = cluster.bounding_box.pose;
-        cluster_pose.header = cluster.header;
-
-        tflistener_baselink.transformPose(cluster.header.frame_id, cluster.header.stamp, cluster_pose, "base_link",
-                                          baselink_pose);
-
-        if (detectionArea_.x1 * param_detection_area_rate_ >= baselink_pose.pose.position.x &&
-            baselink_pose.pose.position.x >= detectionArea_.x2 * param_detection_area_rate_ &&
-            detectionArea_.y1 * param_detection_area_rate_ >= baselink_pose.pose.position.y &&
-            baselink_pose.pose.position.y >= detectionArea_.y2 * param_detection_area_rate_)
-        {
-          l_detection_flag = true;
-          setFlagTime = ros::Time::now().toSec();
-	  break;
-        }
-      }
-    }
-  }
-  /* The true state continues for more than 1 second. */
-  if(l_detection_flag || (ros::Time::now().toSec() - setFlagTime) >= 1.0/*1.0sec*/){
-	  foundOtherVehicleForIntersectionStop_ = l_detection_flag;
-  }
-}
-
-void DecisionMakerNode::callbackFromPointsRaw(const sensor_msgs::PointCloud2::ConstPtr &msg)
-{
-  if (ctx->setCurrentState(state_machine::INITIAL_LOCATEVEHICLE_STATE))
-    Subs["points_raw"].shutdown();
+  ROS_WARN("%s is not implemented", __func__);
 }
 
-void DecisionMakerNode::insertPointWithinCrossRoad(const std::vector<CrossRoadArea> &_intersects,
-                                                   autoware_msgs::LaneArray &lane_array)
+void DecisionMakerNode::insertPointWithinCrossRoad(const std::vector<CrossRoadArea>& _intersects,
+                                                   autoware_msgs::LaneArray& lane_array)
 {
-
-  for (auto &lane : lane_array.lanes)
+  for (auto& lane : lane_array.lanes)
   {
-    for (auto &wp : lane.waypoints)
+    for (auto& wp : lane.waypoints)
     {
       geometry_msgs::Point pp;
       pp.x = wp.pose.pose.position.x;
       pp.y = wp.pose.pose.position.y;
       pp.z = wp.pose.pose.position.z;
 
-      for (auto &area : intersects)
+      for (auto& area : intersects)
       {
         if (CrossRoadArea::isInsideArea(&area, pp))
         {
@@ -203,7 +82,7 @@ void DecisionMakerNode::insertPointWithinCrossRoad(const std::vector<CrossRoadAr
           {
             autoware_msgs::Lane nlane;
             area.insideLanes.push_back(nlane);
-	    area.bbox.pose.orientation = wp.pose.pose.orientation;
+            area.bbox.pose.orientation = wp.pose.pose.orientation;
           }
           area.insideLanes.back().waypoints.push_back(wp);
           area.insideWaypoint_points.push_back(pp);  // geometry_msgs::point
@@ -216,18 +95,13 @@ void DecisionMakerNode::insertPointWithinCrossRoad(const std::vector<CrossRoadAr
   }
 }
 
-inline double getDistance(double ax, double ay, double bx, double by)
-{
-  return std::hypot(ax - bx, ay - by);
-}
-
 void DecisionMakerNode::setWaypointState(autoware_msgs::LaneArray& lane_array)
 {
   insertPointWithinCrossRoad(intersects, lane_array);
   // STR
-  for (auto &area : intersects)
+  for (auto& area : intersects)
   {
-    for (auto &laneinArea : area.insideLanes)
+    for (auto& laneinArea : area.insideLanes)
     {
       // To straight/left/right recognition by using angle
       // between first-waypoint and end-waypoint in intersection area.
@@ -241,200 +115,202 @@ void DecisionMakerNode::setWaypointState(autoware_msgs::LaneArray& lane_array)
       else
         steering_state = autoware_msgs::WaypointState::STR_STRAIGHT;
 
-      for (auto &wp_lane : laneinArea.waypoints)
-        for (auto &lane : lane_array.lanes)
-          for (auto &wp : lane.waypoints)
+      for (auto& wp_lane : laneinArea.waypoints)
+      {
+        for (auto& lane : lane_array.lanes)
+        {
+          for (auto& wp : lane.waypoints)
+          {
             if (wp.gid == wp_lane.gid && wp.wpstate.aid == area.area_id)
             {
               wp.wpstate.steering_state = steering_state;
             }
+          }
+        }
+      }
     }
   }
+  for (auto& lane : lane_array.lanes)
+  {
+    for (auto& wp : lane.waypoints)
+    {
+      if (wp.wpstate.steering_state == 0)
+      {
+        wp.wpstate.steering_state = autoware_msgs::WaypointState::STR_STRAIGHT;
+      }
+    }
+  }
+
   // STOP
   std::vector<StopLine> stoplines = g_vmap.findByFilter([&](const StopLine& stopline) {
     return ((g_vmap.findByKey(Key<RoadSign>(stopline.signid)).type &
              (autoware_msgs::WaypointState::TYPE_STOP | autoware_msgs::WaypointState::TYPE_STOPLINE)) != 0);
   });
 
-  for (auto &lane : lane_array.lanes)
+  for (auto& lane : lane_array.lanes)
   {
     for (size_t wp_idx = 0; wp_idx < lane.waypoints.size() - 1; wp_idx++)
     {
-      for (auto &stopline : stoplines)
+      for (auto& stopline : stoplines)
       {
         geometry_msgs::Point bp =
-            to_geoPoint(g_vmap.findByKey(Key<Point>(g_vmap.findByKey(Key<Line>(stopline.lid)).bpid)));
+            VMPoint2GeoPoint(g_vmap.findByKey(Key<Point>(g_vmap.findByKey(Key<Line>(stopline.lid)).bpid)));
         geometry_msgs::Point fp =
-            to_geoPoint(g_vmap.findByKey(Key<Point>(g_vmap.findByKey(Key<Line>(stopline.lid)).fpid)));
+            VMPoint2GeoPoint(g_vmap.findByKey(Key<Point>(g_vmap.findByKey(Key<Line>(stopline.lid)).fpid)));
 
-#define INTERSECT_CHECK_THRESHOLD 5.0
-        if (getDistance(bp.x, bp.y, lane.waypoints.at(wp_idx).pose.pose.position.x,
-                        lane.waypoints.at(wp_idx).pose.pose.position.y) <= INTERSECT_CHECK_THRESHOLD)
+        if (amathutils::isIntersectLine(lane.waypoints.at(wp_idx).pose.pose.position,
+                                        lane.waypoints.at(wp_idx + 1).pose.pose.position, bp, fp))
         {
-          if (amathutils::isIntersectLine(lane.waypoints.at(wp_idx).pose.pose.position.x,
-                                          lane.waypoints.at(wp_idx).pose.pose.position.y,
-                                          lane.waypoints.at(wp_idx + 1).pose.pose.position.x,
-                                          lane.waypoints.at(wp_idx + 1).pose.pose.position.y, bp.x, bp.y, fp.x, fp.y))
+          geometry_msgs::Point center_point;
+          center_point.x = (bp.x * 2 + fp.x) / 3;
+          center_point.y = (bp.y * 2 + fp.y) / 3;
+          center_point.z = (bp.z + fp.z) / 2;
+          if (amathutils::isPointLeftFromLine(center_point, lane.waypoints.at(wp_idx).pose.pose.position,
+                                              lane.waypoints.at(wp_idx + 1).pose.pose.position) >= 0)
           {
-            geometry_msgs::Point center_point;
-            center_point.x = (bp.x * 2 + fp.x) / 3;
-            center_point.y = (bp.y * 2 + fp.y) / 3;
-            if (amathutils::isPointLeftFromLine(
-                    center_point.x, center_point.y, lane.waypoints.at(wp_idx).pose.pose.position.x,
-                    lane.waypoints.at(wp_idx).pose.pose.position.y, lane.waypoints.at(wp_idx + 1).pose.pose.position.x,
-                    lane.waypoints.at(wp_idx + 1).pose.pose.position.y))
-            {
-              lane.waypoints.at(wp_idx).wpstate.stop_state = g_vmap.findByKey(Key<RoadSign>(stopline.signid)).type;
-              // lane.waypoints.at(wp_idx + 1).wpstate.stop_state = 1;
-            }
+            center_point.x = (bp.x + fp.x) / 2;
+            center_point.y = (bp.y + fp.y) / 2;
+            geometry_msgs::Point interpolation_point =
+                amathutils::getNearPtOnLine(center_point, lane.waypoints.at(wp_idx).pose.pose.position,
+                                            lane.waypoints.at(wp_idx + 1).pose.pose.position);
+
+            autoware_msgs::Waypoint wp = lane.waypoints.at(wp_idx);
+            wp.wpstate.stop_state = g_vmap.findByKey(Key<RoadSign>(stopline.signid)).type;
+            wp.pose.pose.position.x = interpolation_point.x;
+            wp.pose.pose.position.y = interpolation_point.y;
+            wp.pose.pose.position.z =
+                (wp.pose.pose.position.z + lane.waypoints.at(wp_idx + 1).pose.pose.position.z) / 2;
+            wp.twist.twist.linear.x =
+                (wp.twist.twist.linear.x + lane.waypoints.at(wp_idx + 1).twist.twist.linear.x) / 2;
+
+            ROS_INFO("Inserting stopline_interpolation_wp: #%zu(%f, %f, %f)\n", wp_idx + 1, interpolation_point.x,
+                     interpolation_point.y, interpolation_point.z);
+
+            lane.waypoints.insert(lane.waypoints.begin() + wp_idx + 1, wp);
+            wp_idx++;
+
+            //  lane.waypoints.at(wp_idx).wpstate.stop_state = g_vmap.findByKey(Key<RoadSign>(stopline.signid)).type;
           }
         }
       }
     }
+
+// MISSION COMPLETE FLAG
+#define NUM_OF_SET_MISSION_COMPLETE_FLAG 3
+    size_t wp_idx = lane.waypoints.size();
+    unsigned counter = 0;
+    for (counter = 0;
+         counter <= (wp_idx <= NUM_OF_SET_MISSION_COMPLETE_FLAG ? wp_idx : NUM_OF_SET_MISSION_COMPLETE_FLAG); counter++)
+    {
+      lane.waypoints.at(--wp_idx).wpstate.event_state = autoware_msgs::WaypointState::TYPE_EVENT_GOAL;
+    }
   }
 }
 
-// for based waypoint
-void DecisionMakerNode::callbackFromLaneWaypoint(const autoware_msgs::LaneArray &msg)
+bool DecisionMakerNode::drivingMissionCheck()
 {
-  ROS_INFO("[%s]:LoadedWaypointLaneArray\n", __func__);
-  current_based_lane_array_ = msg;  // cached based path
-  // indexing
+  publishOperatorHelpMessage("Received new mission, checking now...");
+  setEventFlag("received_back_state_waypoint", false);
+
   int gid = 0;
-  for (auto &lane : current_based_lane_array_.lanes)
+  for (auto& lane : current_status_.based_lane_array.lanes)
   {
     int lid = 0;
-    for (auto &wp : lane.waypoints)
+    for (auto& wp : lane.waypoints)
     {
-      wp.gid = gid++;
-      wp.lid = lid++;
       wp.wpstate.aid = 0;
       wp.wpstate.steering_state = autoware_msgs::WaypointState::NULLSTATE;
       wp.wpstate.accel_state = autoware_msgs::WaypointState::NULLSTATE;
       wp.wpstate.stop_state = autoware_msgs::WaypointState::NULLSTATE;
       wp.wpstate.lanechange_state = autoware_msgs::WaypointState::NULLSTATE;
       wp.wpstate.event_state = 0;
+      wp.gid = gid++;
+      wp.lid = lid++;
+      if (!isEventFlagTrue("received_back_state_waypoint") && wp.twist.twist.linear.x < 0.0)
+      {
+        setEventFlag("received_back_state_waypoint", true);
+        publishOperatorHelpMessage("Received back waypoint.");
+      }
     }
   }
-  setWaypointState(current_based_lane_array_);
-  current_controlled_lane_array_ = current_shifted_lane_array_ = current_based_lane_array_;  // controlled path
-
-  publishControlledLaneArray();
-  updateLaneWaypointsArray();
-}
-
-state_machine::StateFlags getStateFlags(uint8_t msg_state)
-{
-  if (msg_state == (uint8_t)autoware_msgs::WaypointState::STR_LEFT)
-    return state_machine::DRIVE_STR_LEFT_STATE;
-  else if (msg_state == (uint8_t)autoware_msgs::WaypointState::STR_RIGHT)
-    return state_machine::DRIVE_STR_RIGHT_STATE;
-  else
-    return state_machine::DRIVE_STR_STRAIGHT_STATE;
-}
-
-void DecisionMakerNode::callbackFromFinalWaypoint(const autoware_msgs::Lane &msg)
-{
-  if (!hasvMap())
-  {
-    std::cerr << "Not found vmap subscribe" << std::endl;
-    return;
-  }
-
-  if (!ctx->isCurrentState(state_machine::DRIVE_STATE))
-  {
-    std::cerr << "State is not DRIVE_STATE[" << ctx->getCurrentStateName() << "]" << std::endl;
-    return;
-  }
-  // cached
-  current_finalwaypoints_ = msg;
-
-  // stopline
-  static size_t previous_idx = 0;
 
-  size_t idx = param_stopline_target_waypoint_ + (current_velocity_ * param_stopline_target_ratio_);
-  idx = current_finalwaypoints_.waypoints.size() - 1 > idx ? idx : current_finalwaypoints_.waypoints.size() - 1;
+  // waypoint-state set and insert interpolation waypoint for stopline
+  setWaypointState(current_status_.based_lane_array);
 
-  CurrentStoplineTarget_ = current_finalwaypoints_.waypoints.at(idx);
-
-  for (size_t i = (previous_idx > idx) ? idx : previous_idx; i <= idx; i++)
+  // reindexing and calculate new closest_waypoint distance
+  gid = 0;
+  double min_dist = 100;
+  geometry_msgs::Pose nearest_wp_pose;
+  for (auto& lane : current_status_.based_lane_array.lanes)
   {
-    if (i < current_finalwaypoints_.waypoints.size())
+    int lid = 0;
+    std::vector<double> dist_vec;
+    dist_vec.reserve(lane.waypoints.size());
+    for (auto& wp : lane.waypoints)
     {
-      if (current_finalwaypoints_.waypoints.at(i).wpstate.stop_state == autoware_msgs::WaypointState::TYPE_STOPLINE)
+      wp.gid = gid++;
+      wp.lid = lid++;
+      double dst = amathutils::find_distance(current_status_.pose.position, wp.pose.pose.position);
+      if (min_dist > dst)
       {
-        ctx->setCurrentState(state_machine::DRIVE_ACC_STOPLINE_STATE);
-        closest_stopline_waypoint_ = CurrentStoplineTarget_.gid;
+        min_dist = dst;
+        nearest_wp_pose = wp.pose.pose;
       }
-      if (current_finalwaypoints_.waypoints.at(i).wpstate.stop_state == autoware_msgs::WaypointState::TYPE_STOP)
-        ctx->setCurrentState(state_machine::DRIVE_ACC_STOP_STATE);
     }
   }
-  previous_idx = idx;
-
-  // steering
-  idx = current_finalwaypoints_.waypoints.size() - 1 > param_target_waypoint_ ?
-            param_target_waypoint_ :
-            current_finalwaypoints_.waypoints.size() - 1;
 
-  if (ctx->isCurrentState(state_machine::DRIVE_BEHAVIOR_LANECHANGE_LEFT_STATE))
+  double angle_diff_degree =
+      fabs(amathutils::calcPosesAngleDiffDeg(current_status_.pose, nearest_wp_pose));
+  if (min_dist > change_threshold_dist_ || angle_diff_degree > change_threshold_angle_)
   {
-    ctx->setCurrentState(state_machine::DRIVE_STR_LEFT_STATE);
-  }
-  if (ctx->isCurrentState(state_machine::DRIVE_BEHAVIOR_LANECHANGE_RIGHT_STATE))
-  {
-    ctx->setCurrentState(state_machine::DRIVE_STR_RIGHT_STATE);
+    return false;
   }
   else
   {
-    state_machine::StateFlags _TargetStateFlag;
-    for (size_t i = idx; i > 0; i--)
+    current_status_.using_lane_array = current_status_.based_lane_array;
+    Pubs["lane_waypoints_array"].publish(current_status_.using_lane_array);
+    if (!isSubscriberRegistered("final_waypoints"))
     {
-      _TargetStateFlag = getStateFlags(current_finalwaypoints_.waypoints.at(i).wpstate.steering_state);
-      if (_TargetStateFlag != state_machine::DRIVE_STR_STRAIGHT_STATE)
-      {
-        break;
-      }
+      Subs["final_waypoints"] =
+          nh_.subscribe("final_waypoints", 100, &DecisionMakerNode::callbackFromFinalWaypoint, this);
     }
-    ctx->setCurrentState(_TargetStateFlag);
+
+    return true;
   }
-  // for publish plan of velocity
-  publishToVelocityArray();
 }
-void DecisionMakerNode::callbackFromTwistCmd(const geometry_msgs::TwistStamped &msg)
+
+// for based waypoint
+void DecisionMakerNode::callbackFromLaneWaypoint(const autoware_msgs::LaneArray& msg)
 {
-  static bool Twistflag = false;
+  ROS_INFO("[%s]:LoadedWaypointLaneArray\n", __func__);
 
-  if (Twistflag)
-    ctx->handleTwistCmd(false);
-  else
-    Twistflag = true;
+  current_status_.based_lane_array = msg;
+  setEventFlag("received_based_lane_waypoint", true);
 }
 
-void DecisionMakerNode::callbackFromClosestWaypoint(const std_msgs::Int32 &msg)
+void DecisionMakerNode::callbackFromFinalWaypoint(const autoware_msgs::Lane& msg)
 {
-  closest_waypoint_ = msg.data;
+  current_status_.finalwaypoints = msg;
+  setEventFlag("received_finalwaypoints", true);
 }
 
-void DecisionMakerNode::callbackFromVectorMapArea(const vector_map_msgs::AreaArray &msg)
-{
-  initVectorMap();
-}
-void DecisionMakerNode::callbackFromVectorMapPoint(const vector_map_msgs::PointArray &msg)
+void DecisionMakerNode::callbackFromClosestWaypoint(const std_msgs::Int32& msg)
 {
-  initVectorMap();
+  current_status_.closest_waypoint = msg.data;
 }
-void DecisionMakerNode::callbackFromVectorMapLine(const vector_map_msgs::LineArray &msg)
+
+void DecisionMakerNode::callbackFromCurrentPose(const geometry_msgs::PoseStamped& msg)
 {
-  initVectorMap();
+  current_status_.pose = msg.pose;
 }
-void DecisionMakerNode::callbackFromVectorMapCrossRoad(const vector_map_msgs::CrossRoadArray &msg)
+
+void DecisionMakerNode::callbackFromCurrentVelocity(const geometry_msgs::TwistStamped& msg)
 {
-  initVectorMap();
+  current_status_.velocity = amathutils::mps2kmph(msg.twist.linear.x);
 }
 
-void DecisionMakerNode::callbackFromCurrentVelocity(const geometry_msgs::TwistStamped &msg)
+void DecisionMakerNode::callbackFromObstacleWaypoint(const std_msgs::Int32& msg)
 {
-  current_velocity_ = amathutils::mps2kmph(msg.twist.linear.x);
+  current_status_.obstacle_waypoint = msg.data;
 }
 }
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_core.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_core.cpp
index ffebfb3ab97..682d9e0b42b 100644
--- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_core.cpp
+++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_core.cpp
@@ -14,8 +14,8 @@
 
 #include <autoware_msgs/Lane.h>
 #include <jsk_recognition_msgs/BoundingBoxArray.h>
-#include <random>
 #include <visualization_msgs/MarkerArray.h>
+#include <random>
 
 #include <geometry_msgs/Point.h>
 #include <geometry_msgs/Pose.h>
@@ -23,34 +23,31 @@
 
 namespace decision_maker
 {
+void DecisionMakerNode::tryNextState(const std::string& key)
+{
+  ctx_vehicle->nextState(key);
+  ctx_mission->nextState(key);
+  ctx_drive->nextState(key);
+}
+
 void DecisionMakerNode::update(void)
 {
   update_msgs();
-  if (ctx)
-    ctx->update();
+  if (ctx_vehicle)
+    ctx_vehicle->onUpdate();
+  if (ctx_mission)
+    ctx_mission->onUpdate();
+  if (ctx_drive)
+    ctx_drive->onUpdate();
 }
 
 void DecisionMakerNode::run(void)
 {
-  ros::Rate loop_rate(1);
+  ros::Rate loop_rate(5);
 
-  // for subscribe callback function
-  ros::AsyncSpinner spinner(3);
-  spinner.start();
   while (ros::ok())
   {
-    ros::Time begin = ros::Time::now();
     update();
-    if (enableDisplayMarker)
-      displayMarker();
-
-#ifdef DEBUG_PRINT
-    // debug status
-    ros::Duration exec_time = ros::Time::now() - begin;
-    std_msgs::Float64 exec_time_sec;
-    exec_time_sec.data = exec_time.toSec();
-    Pubs["exectime"].publish(exec_time_sec);
-#endif
 
     loop_rate.sleep();
   }
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp
index 01dde375005..aebef11ff05 100644
--- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp
+++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp
@@ -1,6 +1,6 @@
-#include <numeric>
 #include <stdio.h>
 #include <numeric>
+#include <numeric>
 
 #include <geometry_msgs/PoseStamped.h>
 #include <jsk_rviz_plugins/OverlayText.h>
@@ -18,33 +18,45 @@
 
 namespace decision_maker
 {
-double DecisionMakerNode::getPoseAngle(const geometry_msgs::Pose &pose)
+/* do not use this within callback */
+bool DecisionMakerNode::waitForEvent(cstring_t& key, const bool& flag)
 {
-  double r, p, y;
+  const uint32_t monitoring_rate = 20;  // Hz
 
-  tf::Quaternion quat(pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w);
-  tf::Matrix3x3(quat).getRPY(r, p, y);
-
-  // convert to [-pi : pi]
-  return y;
+  ros::Rate loop_rate(monitoring_rate);
+  while (ros::ok())
+  {
+    if (isEventFlagTrue(key) == flag)
+    {
+      break;
+    }
+    loop_rate.sleep();
+  }
+  return true;
 }
 
-double DecisionMakerNode::calcPosesAngleDiffN(const geometry_msgs::Pose &p_from, const geometry_msgs::Pose &p_to)
+bool DecisionMakerNode::waitForEvent(cstring_t& key, const bool& flag, const double& timeout_sec)
 {
-  // convert to [-pi : pi]
-  return getPoseAngle(p_from) - getPoseAngle(p_to);
-}
+  const uint32_t monitoring_rate = 20;  // Hz
+  ros::Rate loop_rate(monitoring_rate);
 
-double DecisionMakerNode::calcPosesAngleDiff(const geometry_msgs::Pose &p_from, const geometry_msgs::Pose &p_to)
-{
-  // convert to [-pi : pi]
-  double diff = std::fmod(calcPosesAngleDiffN(p_from, p_to), 2 * M_PI);
-  diff = diff > M_PI ? diff - 2 * M_PI : diff < -M_PI ? 2 * M_PI + diff : diff;
-  diff = diff * 180 / M_PI;
-  return diff;
-}
+  ros::Time entry_time = ros::Time::now();
 
-double DecisionMakerNode::calcIntersectWayAngle(const autoware_msgs::Lane &laneinArea)
+  while (ros::ok())
+  {
+    if (isEventFlagTrue(key) == flag)
+    {
+      return true;
+    }
+    if ((ros::Time::now() - entry_time).toSec() >= timeout_sec)
+    {
+      break;
+    }
+    loop_rate.sleep();
+  }
+  return false;
+}
+double DecisionMakerNode::calcIntersectWayAngle(const autoware_msgs::Lane& laneinArea)
 {
   double diff = 0.0;
   if (laneinArea.waypoints.empty())
@@ -56,43 +68,54 @@ double DecisionMakerNode::calcIntersectWayAngle(const autoware_msgs::Lane &lanei
     const geometry_msgs::Pose InPose = laneinArea.waypoints.front().pose.pose;
     const geometry_msgs::Pose OutPose = laneinArea.waypoints.back().pose.pose;
 
-    diff = calcPosesAngleDiff(InPose, OutPose);
+    diff = amathutils::calcPosesAngleDiffDeg(InPose, OutPose);
   }
 
   return diff;
 }
 
-bool DecisionMakerNode::isLocalizationConvergence(double _x, double _y, double _z, double _roll, double _pitch,
-                                                  double _yaw)
+bool DecisionMakerNode::isLocalizationConvergence(const geometry_msgs::Point& _current_point)
 {
-  static amathutils::point a;
-  static amathutils::point b;
-
   static std::vector<double> distances;
   static uint32_t distances_count = 0;
+  static geometry_msgs::Point prev_point;
+  static const int param_convergence_count = 10;
 
   bool ret = false;
 
-  a.x = b.x;
-  a.y = b.y;
-  a.z = b.z;
-
-  b.x = _x;
-  b.y = _y;
-  b.z = _z;
+  // if current point is not set, localization is failure
+  if (_current_point.x == 0 && _current_point.y == 0 && _current_point.z == 0 && prev_point.x == 0 &&
+      prev_point.y == 0 && prev_point.z == 0)
+  {
+    return ret;
+  }
 
-  distances.push_back(amathutils::find_distance(&a, &b));
-  if (++distances_count > param_convergence_count_)
+  distances.push_back(amathutils::find_distance(prev_point, _current_point));
+  if (++distances_count > param_convergence_count) /* num of count to judge convergence*/
   {
     distances.erase(distances.begin());
     distances_count--;
-    double avg_distances = std::accumulate(distances.begin(), distances.end(), 0) / distances.size();
-    if (avg_distances <= param_convergence_threshold_)
+    double avg_distances = std::accumulate(distances.begin(), distances.end(), 0.0) / (double)distances.size();
+    if (avg_distances <= 2) /*meter*/
     {
-      ret =  ctx->setCurrentState(state_machine::DRIVE_STATE);
+      ret = true;
     }
   }
-  
+
+  prev_point = _current_point;
   return ret;
 }
+bool DecisionMakerNode::isArrivedGoal()
+{
+  const auto goal_point = current_status_.finalwaypoints.waypoints.back().pose.pose.position;
+
+  if (amathutils::find_distance(goal_point, current_status_.pose.position) < goal_threshold_dist_)
+  {
+    if (current_status_.velocity <= goal_threshold_vel_)
+    {
+      return true;
+    }
+  }
+  return false;
+}
 }
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp
index d39302fe987..04816112811 100644
--- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp
+++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp
@@ -1,141 +1,301 @@
-#include <mutex>
-#include <ros/ros.h>
-#include <ros/spinner.h>
-#include <std_msgs/Float64.h>
-#include <std_msgs/Float64MultiArray.h>
-#include <std_msgs/Int32.h>
-#include <std_msgs/String.h>
-#include <stdio.h>
-#include <tf/transform_listener.h>
-
-// lib
-#include <state_machine_lib/state.hpp>
-#include <state_machine_lib/state_context.hpp>
-
 #include <decision_maker_node.hpp>
-//#include <vector_map/vector_map.h>
-
-#include <autoware_msgs/LampCmd.h>
-#include <autoware_msgs/Lane.h>
-#include <autoware_msgs/State.h>
-#include <jsk_recognition_msgs/BoundingBoxArray.h>
-#include <random>
-#include <visualization_msgs/MarkerArray.h>
-
-#include <geometry_msgs/Point.h>
-#include <geometry_msgs/Pose.h>
-#include <geometry_msgs/PoseStamped.h>
 
 namespace decision_maker
 {
-void DecisionMakerNode::initROS(int argc, char **argv)
+void DecisionMakerNode::init(void)
+{
+  initROS();
+}
+
+void DecisionMakerNode::setupStateCallback(void)
 {
-  ctx->setCurrentState(state_machine::INITIAL_STATE);
+  /*INIT*/
+  /*** state vehicle ***/
+  ctx_vehicle->setCallback(state_machine::CallbackType::ENTRY, "Init",
+                           std::bind(&DecisionMakerNode::entryInitState, this, std::placeholders::_1, 0));
+  ctx_vehicle->setCallback(state_machine::CallbackType::UPDATE, "Init",
+                           std::bind(&DecisionMakerNode::updateInitState, this, std::placeholders::_1, 0));
+  ctx_vehicle->setCallback(state_machine::CallbackType::ENTRY, "SensorInit",
+                           std::bind(&DecisionMakerNode::entrySensorInitState, this, std::placeholders::_1, 0));
+  ctx_vehicle->setCallback(state_machine::CallbackType::UPDATE, "SensorInit",
+                           std::bind(&DecisionMakerNode::updateSensorInitState, this, std::placeholders::_1, 0));
+  ctx_vehicle->setCallback(state_machine::CallbackType::ENTRY, "MapInit",
+                           std::bind(&DecisionMakerNode::entryMapInitState, this, std::placeholders::_1, 0));
+  ctx_vehicle->setCallback(state_machine::CallbackType::UPDATE, "MapInit",
+                           std::bind(&DecisionMakerNode::updateMapInitState, this, std::placeholders::_1, 0));
+  ctx_vehicle->setCallback(state_machine::CallbackType::ENTRY, "LocalizationInit",
+                           std::bind(&DecisionMakerNode::entryLocalizationInitState, this, std::placeholders::_1, 0));
+  ctx_vehicle->setCallback(state_machine::CallbackType::UPDATE, "LocalizationInit",
+                           std::bind(&DecisionMakerNode::updateLocalizationInitState, this, std::placeholders::_1, 0));
+  ctx_vehicle->setCallback(state_machine::CallbackType::ENTRY, "PlanningInit",
+                           std::bind(&DecisionMakerNode::entryPlanningInitState, this, std::placeholders::_1, 0));
+  ctx_vehicle->setCallback(state_machine::CallbackType::UPDATE, "PlanningInit",
+                           std::bind(&DecisionMakerNode::updatePlanningInitState, this, std::placeholders::_1, 0));
+  ctx_vehicle->setCallback(state_machine::CallbackType::ENTRY, "VehicleInit",
+                           std::bind(&DecisionMakerNode::entryVehicleInitState, this, std::placeholders::_1, 0));
+  ctx_vehicle->setCallback(state_machine::CallbackType::UPDATE, "VehicleInit",
+                           std::bind(&DecisionMakerNode::updateVehicleInitState, this, std::placeholders::_1, 0));
+  ctx_vehicle->setCallback(state_machine::CallbackType::ENTRY, "VehicleReady",
+                           std::bind(&DecisionMakerNode::entryVehicleReadyState, this, std::placeholders::_1, 0));
+  ctx_vehicle->setCallback(state_machine::CallbackType::UPDATE, "VehicleReady",
+                           std::bind(&DecisionMakerNode::updateVehicleReadyState, this, std::placeholders::_1, 0));
+  ctx_vehicle->setCallback(state_machine::CallbackType::ENTRY, "VehicleEmergency",
+                           std::bind(&DecisionMakerNode::entryVehicleEmergencyState, this, std::placeholders::_1, 0));
+  ctx_vehicle->setCallback(state_machine::CallbackType::UPDATE, "VehicleEmergency",
+                           std::bind(&DecisionMakerNode::updateVehicleEmergencyState, this, std::placeholders::_1, 0));
 
-  // status subscriber
-  Subs["sim_pose"] = nh_.subscribe("sim_pose", 20, &DecisionMakerNode::callbackFromSimPose, this);
-  Subs["current_pose"] = nh_.subscribe("current_pose", 20, &DecisionMakerNode::callbackFromCurrentPose, this);
-  Subs["current_velocity"] =
-      nh_.subscribe("current_velocity", 20, &DecisionMakerNode::callbackFromCurrentVelocity, this);
-  Subs["light_color"] = nh_.subscribe("light_color", 10, &DecisionMakerNode::callbackFromLightColor, this);
-  Subs["points_raw"] = nh_.subscribe("filtered_points", 1, &DecisionMakerNode::callbackFromPointsRaw, this);
-  Subs["final_waypoints"] = nh_.subscribe("final_waypoints", 100, &DecisionMakerNode::callbackFromFinalWaypoint, this);
-  Subs["twist_cmd"] = nh_.subscribe("twist_cmd", 10, &DecisionMakerNode::callbackFromTwistCmd, this);
-  Subs["change_flag"] = nh_.subscribe("change_flag", 1, &DecisionMakerNode::callbackFromLaneChangeFlag, this);
-  Subs["state_cmd"] = nh_.subscribe("state_cmd", 1, &DecisionMakerNode::callbackFromStateCmd, this);
-  Subs["closest_waypoint"] =
-      nh_.subscribe("closest_waypoint", 1, &DecisionMakerNode::callbackFromClosestWaypoint, this);
-  Subs["cloud_clusters"] =
-      nh_.subscribe("cloud_clusters", 1, &DecisionMakerNode::callbackFromObjectDetector, this);
+  /*** state mission ***/
+  ctx_mission->setCallback(state_machine::CallbackType::ENTRY, "WaitVehicleReady",
+                           std::bind(&DecisionMakerNode::entryWaitVehicleReadyState, this, std::placeholders::_1, 0));
+  ctx_mission->setCallback(state_machine::CallbackType::UPDATE, "WaitVehicleReady",
+                           std::bind(&DecisionMakerNode::updateWaitVehicleReadyState, this, std::placeholders::_1, 0));
+  ctx_mission->setCallback(state_machine::CallbackType::ENTRY, "WaitOrder",
+                           std::bind(&DecisionMakerNode::entryWaitOrderState, this, std::placeholders::_1, 0));
+  ctx_mission->setCallback(state_machine::CallbackType::UPDATE, "WaitOrder",
+                           std::bind(&DecisionMakerNode::updateWaitOrderState, this, std::placeholders::_1, 0));
+  ctx_mission->setCallback(state_machine::CallbackType::EXIT, "WaitOrder",
+                           std::bind(&DecisionMakerNode::exitWaitOrderState, this, std::placeholders::_1, 0));
+  ctx_mission->setCallback(state_machine::CallbackType::ENTRY, "MissionCheck",
+                           std::bind(&DecisionMakerNode::entryMissionCheckState, this, std::placeholders::_1, 0));
+  ctx_mission->setCallback(state_machine::CallbackType::UPDATE, "MissionCheck",
+                           std::bind(&DecisionMakerNode::updateMissionCheckState, this, std::placeholders::_1, 0));
+  ctx_mission->setCallback(state_machine::CallbackType::ENTRY, "DriveReady",
+                           std::bind(&DecisionMakerNode::entryDriveReadyState, this, std::placeholders::_1, 0));
+  ctx_mission->setCallback(state_machine::CallbackType::UPDATE, "DriveReady",
+                           std::bind(&DecisionMakerNode::updateDriveReadyState, this, std::placeholders::_1, 0));
+  ctx_mission->setCallback(state_machine::CallbackType::ENTRY, "Driving",
+                           std::bind(&DecisionMakerNode::entryDrivingState, this, std::placeholders::_1, 0));
+  ctx_mission->setCallback(state_machine::CallbackType::UPDATE, "Driving",
+                           std::bind(&DecisionMakerNode::updateDrivingState, this, std::placeholders::_1, 0));
+  ctx_mission->setCallback(state_machine::CallbackType::EXIT, "Driving",
+                           std::bind(&DecisionMakerNode::exitDrivingState, this, std::placeholders::_1, 0));
+  ctx_mission->setCallback(
+      state_machine::CallbackType::ENTRY, "DrivingMissionChange",
+      std::bind(&DecisionMakerNode::entryDrivingMissionChangeState, this, std::placeholders::_1, 0));
+  ctx_mission->setCallback(
+      state_machine::CallbackType::UPDATE, "DrivingMissionChange",
+      std::bind(&DecisionMakerNode::updateDrivingMissionChangeState, this, std::placeholders::_1, 0));
+  ctx_mission->setCallback(
+      state_machine::CallbackType::UPDATE, "MissionChangeSucceeded",
+      std::bind(&DecisionMakerNode::updateMissionChangeSucceededState, this, std::placeholders::_1, 0));
+  ctx_mission->setCallback(
+      state_machine::CallbackType::UPDATE, "MissionChangeFailed",
+      std::bind(&DecisionMakerNode::updateMissionChangeFailedState, this, std::placeholders::_1, 0));
+  ctx_mission->setCallback(state_machine::CallbackType::ENTRY, "MissionComplete",
+                           std::bind(&DecisionMakerNode::entryMissionCompleteState, this, std::placeholders::_1, 0));
+  ctx_mission->setCallback(state_machine::CallbackType::UPDATE, "MissionComplete",
+                           std::bind(&DecisionMakerNode::updateMissionCompleteState, this, std::placeholders::_1, 0));
+  ctx_mission->setCallback(state_machine::CallbackType::ENTRY, "MissionAborted",
+                           std::bind(&DecisionMakerNode::entryMissionAbortedState, this, std::placeholders::_1, 0));
+  ctx_mission->setCallback(state_machine::CallbackType::UPDATE, "MissionAborted",
+                           std::bind(&DecisionMakerNode::updateMissionAbortedState, this, std::placeholders::_1, 0));
+
+  /*** state drive ***/
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "WaitEngage",
+                         std::bind(&DecisionMakerNode::updateWaitEngageState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "Drive",
+                         std::bind(&DecisionMakerNode::entryDriveState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "Drive",
+                         std::bind(&DecisionMakerNode::updateDriveState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "LaneArea",
+                         std::bind(&DecisionMakerNode::updateLaneAreaState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "FreeArea",
+                         std::bind(&DecisionMakerNode::updateFreeAreaState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "Cruise",
+                         std::bind(&DecisionMakerNode::updateCruiseState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "BusStop",
+                         std::bind(&DecisionMakerNode::updateBusStopState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "Parking",
+                         std::bind(&DecisionMakerNode::updateParkingState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "DriveEmergency",
+                         std::bind(&DecisionMakerNode::entryDriveEmergencyState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "DriveEmergency",
+                         std::bind(&DecisionMakerNode::updateDriveEmergencyState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::EXIT, "DriveEmergency",
+                         std::bind(&DecisionMakerNode::exitDriveEmergencyState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "LeftTurn",
+                         std::bind(&DecisionMakerNode::entryTurnState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "LeftTurn",
+                         std::bind(&DecisionMakerNode::updateLeftTurnState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "RightTurn",
+                         std::bind(&DecisionMakerNode::entryTurnState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "RightTurn",
+                         std::bind(&DecisionMakerNode::updateRightTurnState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "Straight",
+                         std::bind(&DecisionMakerNode::entryTurnState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "Straight",
+                         std::bind(&DecisionMakerNode::updateStraightState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "Back",
+                         std::bind(&DecisionMakerNode::entryTurnState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "Back",
+                         std::bind(&DecisionMakerNode::updateBackState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "LeftLaneChange",
+                         std::bind(&DecisionMakerNode::entryLaneChangeState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "LeftLaneChange",
+                         std::bind(&DecisionMakerNode::updateLeftLaneChangeState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "RightLaneChange",
+                         std::bind(&DecisionMakerNode::entryLaneChangeState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "RightLaneChange",
+                         std::bind(&DecisionMakerNode::updateRightLaneChangeState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "PullIn",
+                         std::bind(&DecisionMakerNode::updatePullInState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "PullOut",
+                         std::bind(&DecisionMakerNode::updatePullOutState, this, std::placeholders::_1, 0));
+
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "CheckLeftLane",
+                         std::bind(&DecisionMakerNode::updateCheckLeftLaneState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "CheckRightLane",
+                         std::bind(&DecisionMakerNode::updateCheckRightLaneState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "ChangeToLeft",
+                         std::bind(&DecisionMakerNode::updateChangeToLeftState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "ChangeToRight",
+                         std::bind(&DecisionMakerNode::updateChangeToRightState, this, std::placeholders::_1, 0));
+
+  ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "Go",
+                         std::bind(&DecisionMakerNode::entryGoState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "L_Go",
+                         std::bind(&DecisionMakerNode::entryGoState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "R_Go",
+                         std::bind(&DecisionMakerNode::entryGoState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "B_Go",
+                         std::bind(&DecisionMakerNode::entryGoState, this, std::placeholders::_1, 0));
+
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "Go",
+                         std::bind(&DecisionMakerNode::updateGoState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "L_Go",
+                         std::bind(&DecisionMakerNode::updateGoState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "R_Go",
+                         std::bind(&DecisionMakerNode::updateGoState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "B_Go",
+                         std::bind(&DecisionMakerNode::updateGoState, this, std::placeholders::_1, 0));
+
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "Wait",
+                         std::bind(&DecisionMakerNode::updateWaitState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "L_Wait",
+                         std::bind(&DecisionMakerNode::updateWaitState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "R_Wait",
+                         std::bind(&DecisionMakerNode::updateWaitState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "B_Wait",
+                         std::bind(&DecisionMakerNode::updateWaitState, this, std::placeholders::_1, 0));
+
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "StopLine",
+                         std::bind(&DecisionMakerNode::updateStoplineState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "L_StopLine",
+                         std::bind(&DecisionMakerNode::updateStoplineState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "R_StopLine",
+                         std::bind(&DecisionMakerNode::updateStoplineState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "B_StopLine",
+                         std::bind(&DecisionMakerNode::updateStoplineState, this, std::placeholders::_1, 0));
+
+  ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "Stop",
+                         std::bind(&DecisionMakerNode::entryStopState, this, std::placeholders::_1, 1));
+  ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "L_Stop",
+                         std::bind(&DecisionMakerNode::entryStopState, this, std::placeholders::_1, 1));
+  ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "R_Stop",
+                         std::bind(&DecisionMakerNode::entryStopState, this, std::placeholders::_1, 1));
+  ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "B_Stop",
+                         std::bind(&DecisionMakerNode::entryStopState, this, std::placeholders::_1, 1));
+
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "Stop",
+                         std::bind(&DecisionMakerNode::updateStopState, this, std::placeholders::_1, 1));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "L_Stop",
+                         std::bind(&DecisionMakerNode::updateStopState, this, std::placeholders::_1, 1));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "R_Stop",
+                         std::bind(&DecisionMakerNode::updateStopState, this, std::placeholders::_1, 1));
+  ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "B_Stop",
+                         std::bind(&DecisionMakerNode::updateStopState, this, std::placeholders::_1, 1));
 
+  ctx_drive->setCallback(state_machine::CallbackType::EXIT, "Wait",
+                         std::bind(&DecisionMakerNode::exitStopState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::EXIT, "L_Wait",
+                         std::bind(&DecisionMakerNode::exitStopState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::EXIT, "R_Wait",
+                         std::bind(&DecisionMakerNode::exitStopState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::EXIT, "B_Wait",
+                         std::bind(&DecisionMakerNode::exitStopState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::EXIT, "StopLine",
+                         std::bind(&DecisionMakerNode::exitStopState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::EXIT, "L_StopLine",
+                         std::bind(&DecisionMakerNode::exitStopState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::EXIT, "R_StopLine",
+                         std::bind(&DecisionMakerNode::exitStopState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::EXIT, "B_StopLine",
+                         std::bind(&DecisionMakerNode::exitStopState, this, std::placeholders::_1, 0));
+  ctx_drive->setCallback(state_machine::CallbackType::EXIT, "Stop",
+                         std::bind(&DecisionMakerNode::exitStopState, this, std::placeholders::_1, 1));
+  ctx_drive->setCallback(state_machine::CallbackType::EXIT, "L_Stop",
+                         std::bind(&DecisionMakerNode::exitStopState, this, std::placeholders::_1, 1));
+  ctx_drive->setCallback(state_machine::CallbackType::EXIT, "R_Stop",
+                         std::bind(&DecisionMakerNode::exitStopState, this, std::placeholders::_1, 1));
+  ctx_drive->setCallback(state_machine::CallbackType::EXIT, "B_Stop",
+                         std::bind(&DecisionMakerNode::exitStopState, this, std::placeholders::_1, 1));
+
+  ctx_vehicle->nextState("started");
+  ctx_mission->nextState("started");
+  ctx_drive->nextState("started");
+}
+
+void DecisionMakerNode::createSubscriber(void)
+{
   // Config subscriber
   Subs["config/decision_maker"] =
       nh_.subscribe("/config/decision_maker", 3, &DecisionMakerNode::callbackFromConfig, this);
 
-
+  Subs["state_cmd"] = nh_.subscribe("/state_cmd", 1, &DecisionMakerNode::callbackFromStateCmd, this);
+  Subs["current_velocity"] =
+      nh_.subscribe("/current_velocity", 1, &DecisionMakerNode::callbackFromCurrentVelocity, this);
+  Subs["obstacle_waypoint"] =
+      nh_.subscribe("/obstacle_waypoint", 1, &DecisionMakerNode::callbackFromObstacleWaypoint, this);
+  Subs["change_flag"] = nh_.subscribe("/change_flag", 1, &DecisionMakerNode::callbackFromLaneChangeFlag, this);
+}
+void DecisionMakerNode::createPublisher(void)
+{
   // pub
-  //
-  Pubs["state/stopline_wpidx"] = nh_.advertise<std_msgs::Int32>("/state/stopline_wpidx", 1, true);
+  Pubs["state/stopline_wpidx"] = nh_.advertise<std_msgs::Int32>("/state/stopline_wpidx", 1, false);
 
   // for controlling other planner
-  Pubs["state"] = nh_.advertise<std_msgs::String>("state", 1);
   Pubs["lane_waypoints_array"] = nh_.advertise<autoware_msgs::LaneArray>(TPNAME_CONTROL_LANE_WAYPOINTS_ARRAY, 10, true);
-  Pubs["states"] = nh_.advertise<autoware_msgs::State>("/decisionmaker/states", 1, true);
   Pubs["light_color"] = nh_.advertise<autoware_msgs::TrafficLight>("/light_color_managed", 1);
 
   // for controlling vehicle
   Pubs["lamp_cmd"] = nh_.advertise<autoware_msgs::LampCmd>("/lamp_cmd", 1);
 
   // for visualize status
-  Pubs["state_overlay"] = nh_.advertise<jsk_rviz_plugins::OverlayText>("/state/overlay_text", 1);
-  Pubs["crossroad_marker"] = nh_.advertise<visualization_msgs::MarkerArray>("/state/cross_road_marker", 1);
-  Pubs["crossroad_inside_marker"] = nh_.advertise<visualization_msgs::Marker>("/state/cross_inside_marker", 1);
-  Pubs["crossroad_bbox"] = nh_.advertise<jsk_recognition_msgs::BoundingBoxArray>("/state/crossroad_bbox", 10);
-  Pubs["detection_area"] = nh_.advertise<visualization_msgs::Marker>("/state/detection_area",1);
-  Pubs["stopline_target"] = nh_.advertise<visualization_msgs::Marker>("/state/stopline_target",1);
+  Pubs["state"] = private_nh_.advertise<std_msgs::String>("state", 1, true);
+  Pubs["state_msg"] = private_nh_.advertise<autoware_msgs::State>("state_msg", 1, true);
+  Pubs["state_overlay"] = private_nh_.advertise<jsk_rviz_plugins::OverlayText>("state_overlay", 1);
+  Pubs["available_transition"] = private_nh_.advertise<std_msgs::String>("available_transition", 1, true);
 
   // for debug
-  Pubs["target_velocity_array"] = nh_.advertise<std_msgs::Float64MultiArray>("/target_velocity_array", 1);
-  Pubs["state_local_diffdistance"] = nh_.advertise<std_msgs::Float64>("/state/val_diff_distance", 1);
-  Pubs["exectime"] = nh_.advertise<std_msgs::Float64>("/state/exectime", 1);
-
-  // message setup
-  state_text_msg.width = 400;
-  state_text_msg.height = 500;
-  state_text_msg.top = 10;
-  state_text_msg.left = 10;
-  state_text_msg.bg_color.r = 0;
-  state_text_msg.bg_color.g = 0;
-  state_text_msg.bg_color.b = 0;
-  state_text_msg.bg_color.a = 0.8;
-
-  state_text_msg.line_width = 2;
-  state_text_msg.text_size = 18;
-  state_text_msg.font = "DejaVu Sans Mono";
-  state_text_msg.fg_color.r = 0.1;
-  state_text_msg.fg_color.g = 1.0;
-  state_text_msg.fg_color.b = 0.94;
-  state_text_msg.fg_color.a = 0.8;
-  state_text_msg.text = "UNDEFINED";
-
-  // initial publishing state message
-  update_msgs();
+  Pubs["target_velocity_array"] = nh_.advertise<std_msgs::Float64MultiArray>("target_velocity_array", 1);
+  Pubs["operator_help_text"] = private_nh_.advertise<jsk_rviz_plugins::OverlayText>("operator_help_text", 1, true);
+}
 
-  // setup a callback for state update();
-  setupStateCallback();
+void DecisionMakerNode::initROS()
+{
+  // for subscribe callback function
 
-  g_vmap.subscribe(nh_,
-                   Category::POINT | Category::LINE | Category::VECTOR | Category::AREA |
-                       Category::POLE |  // basic class
-                       Category::DTLANE | Category::STOP_LINE | Category::ROAD_SIGN | Category::CROSS_ROAD);
-  initVectorMap();
+  createSubscriber();
+  createPublisher();
 
-  {
-    if (enableDisplayMarker)
-      displayMarker();
-  }
+  spinners = std::shared_ptr<ros::AsyncSpinner>(new ros::AsyncSpinner(3));
+  spinners->start();
 
-  ROS_INFO("Initialized OUT\n");
-  ctx->setCurrentState(state_machine::INITIAL_LOCATEVEHICLE_STATE);
-  
-  Subs["lane_waypoints_array"] =
-      nh_.subscribe(TPNAME_BASED_LANE_WAYPOINTS_ARRAY, 100, &DecisionMakerNode::callbackFromLaneWaypoint, this);
+  update_msgs();
 }
 
 void DecisionMakerNode::initVectorMap(void)
 {
   int _index = 0;
-  // if(vector_map_init)
-  //      return;
-  std::vector<CrossRoad> crossroads = g_vmap.findByFilter([](const CrossRoad &crossroad) { return true; });
+
+  const std::vector<CrossRoad> crossroads = g_vmap.findByFilter([](const CrossRoad& crossroad) { return true; });
   if (crossroads.empty())
   {
     ROS_INFO("crossroads have not found\n");
     return;
   }
 
-  vector_map_init = true;  // loaded flag
-  for (const auto &cross_road : crossroads)
+  for (const auto& cross_road : crossroads)
   {
     geometry_msgs::Point _prev_point;
     Area area = g_vmap.findByKey(Key<Area>(cross_road.aid));
@@ -148,13 +308,13 @@ void DecisionMakerNode::initVectorMap(void)
     double z = 0.0;
     int points_count = 0;
 
-    std::vector<Line> lines =
-        g_vmap.findByFilter([&area](const Line &line) { return area.slid <= line.lid && line.lid <= area.elid; });
-    for (const auto &line : lines)
+    const std::vector<Line> lines =
+        g_vmap.findByFilter([&area](const Line& line) { return area.slid <= line.lid && line.lid <= area.elid; });
+    for (const auto& line : lines)
     {
-      std::vector<Point> points =
-          g_vmap.findByFilter([&line](const Point &point) { return line.bpid == point.pid;});
-      for (const auto &point : points)
+      const std::vector<Point> points =
+          g_vmap.findByFilter([&line](const Point& point) { return line.bpid == point.pid; });
+      for (const auto& point : points)
       {
         geometry_msgs::Point _point;
         _point.x = point.ly;
@@ -178,7 +338,7 @@ void DecisionMakerNode::initVectorMap(void)
         z = _point.z;
       }  // points iter
     }    // line iter
-    carea.bbox.pose.position.x = x_avg / (double)points_count * 1.5/* expanding rate */;
+    carea.bbox.pose.position.x = x_avg / (double)points_count * 1.5 /* expanding rate */;
     carea.bbox.pose.position.y = y_avg / (double)points_count * 1.5;
     carea.bbox.pose.position.z = z;
     carea.bbox.dimensions.x = x_max - x_min;
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_publish.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_publish.cpp
index 5345dacc8d7..f0d240f63b4 100644
--- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_publish.cpp
+++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_publish.cpp
@@ -1,227 +1,129 @@
-#include <ros/ros.h>
-#include <ros/spinner.h>
-#include <std_msgs/Float64.h>
-#include <std_msgs/Float64MultiArray.h>
-#include <std_msgs/String.h>
-#include <stdio.h>
-#include <tf/transform_listener.h>
-
-// lib
-#include <state_machine_lib/state.hpp>
-#include <state_machine_lib/state_context.hpp>
-
 #include <decision_maker_node.hpp>
 
-#include <autoware_msgs/Lane.h>
-#include <autoware_msgs/State.h>
-#include <jsk_recognition_msgs/BoundingBoxArray.h>
-#include <random>
-#include <visualization_msgs/MarkerArray.h>
-
-#include <geometry_msgs/Point.h>
-#include <geometry_msgs/Pose.h>
-#include <geometry_msgs/PoseStamped.h>
-
 namespace decision_maker
 {
-void DecisionMakerNode::update_pubsub(void)
+void DecisionMakerNode::publishLampCmd(const E_Lamp& status)
 {
-  // if state machine require to re-subscribe topic,
-  // this function will re-definition subscriber.
+  autoware_msgs::LampCmd lamp_msg;
+  lamp_msg.header.stamp = ros::Time::now();
+
+  switch (status)
+  {
+    case E_Lamp::LAMP_LEFT:
+      lamp_msg.l = LAMP_ON;
+      lamp_msg.r = LAMP_OFF;
+      break;
+    case E_Lamp::LAMP_RIGHT:
+      lamp_msg.l = LAMP_OFF;
+      lamp_msg.r = LAMP_ON;
+      break;
+    case E_Lamp::LAMP_HAZARD:
+      lamp_msg.l = LAMP_ON;
+      lamp_msg.r = LAMP_ON;
+      break;
+    case E_Lamp::LAMP_EMPTY:
+    default:
+      lamp_msg.l = LAMP_OFF;
+      lamp_msg.r = LAMP_OFF;
+      break;
+  }
+  Pubs["lamp_cmd"].publish(lamp_msg);
 }
 
-int DecisionMakerNode::createCrossRoadAreaMarker(visualization_msgs::Marker &crossroad_marker, double scale)
+jsk_rviz_plugins::OverlayText createOverlayText(cstring_t& data, const int column)
 {
-  crossroad_marker.header.frame_id = "/map";
-  crossroad_marker.header.stamp = ros::Time();
-  crossroad_marker.id = 1;
-  crossroad_marker.type = visualization_msgs::Marker::SPHERE_LIST;
-  crossroad_marker.action = visualization_msgs::Marker::ADD;
-  crossroad_marker.ns = "crossroad";
-
-  crossroad_marker.scale.x = scale;
-  crossroad_marker.scale.y = scale;
-  crossroad_marker.scale.z = 0.5;
-  crossroad_marker.color.a = 0.15;
-  crossroad_marker.color.r = 1.0;
-  crossroad_marker.color.g = 0.0;
-  crossroad_marker.color.b = 0.0;
-  crossroad_marker.frame_locked = true;
-  crossroad_marker.lifetime = ros::Duration(0.3);
-
-  return 0;
+  jsk_rviz_plugins::OverlayText ret;
+
+  // message setup
+  ret.width = 500;
+  ret.height = 500;
+  ret.top = 10 + (column * 500);
+  ret.left = 10;
+  ret.bg_color.r = 0;
+  ret.bg_color.g = 0;
+  ret.bg_color.b = 0;
+  ret.bg_color.a = 0.8;
+
+  ret.line_width = 2;
+  ret.text_size = 9;
+  ret.font = "DejaVu Sans Mono";
+  ret.fg_color.r = 1.0;
+  ret.fg_color.g = 1.0;
+  ret.fg_color.b = 0.5;
+  ret.fg_color.a = 0.9;
+
+  ret.text = data;
+
+  return ret;
 }
 
-void DecisionMakerNode::displayMarker(void)
+void DecisionMakerNode::publishOperatorHelpMessage(cstring_t& message)
 {
-  // vector_map init
-  // parse vectormap
-  jsk_recognition_msgs::BoundingBoxArray bbox_array;
-  visualization_msgs::MarkerArray marker_array;
-  visualization_msgs::Marker crossroad_marker;
-  visualization_msgs::Marker stopline_target_marker;
-  visualization_msgs::Marker inside_marker;
-  visualization_msgs::Marker inside_line_marker;
-  visualization_msgs::Marker detection_area_marker;
-
-  double scale = 3.0;
-  createCrossRoadAreaMarker(crossroad_marker, scale);
-  
-  detection_area_marker = crossroad_marker;
-  detection_area_marker.header.frame_id = param_baselink_tf_;
-  detection_area_marker.scale.x = (detectionArea_.x1 - detectionArea_.x2) * param_detection_area_rate_;
-  detection_area_marker.scale.y = (detectionArea_.y1 - detectionArea_.y2) * param_detection_area_rate_;
-  detection_area_marker.color.r = foundOtherVehicleForIntersectionStop_?0.0:1.0;
-  detection_area_marker.pose.position.x =  detection_area_marker.scale.x/2;
-  detection_area_marker.color.g = 1;
-  detection_area_marker.color.b = 0.3;
-  detection_area_marker.color.a = 0.3;
-  detection_area_marker.type = visualization_msgs::Marker::CUBE;
-  detection_area_marker.lifetime=ros::Duration();
-
-  stopline_target_marker = crossroad_marker;
-  stopline_target_marker.type = visualization_msgs::Marker::SPHERE;
-  stopline_target_marker.scale.x = 1;
-  stopline_target_marker.scale.y = 1;
-  stopline_target_marker.scale.z = 1;
-  stopline_target_marker.color.a = 1;
-  stopline_target_marker.color.r = 1.0;
-  stopline_target_marker.color.g = 0.0;
-  stopline_target_marker.color.b = 0.0;
-  stopline_target_marker.ns = "stopline_target";
-  stopline_target_marker.lifetime = ros::Duration();
-  stopline_target_marker.pose.position.x = CurrentStoplineTarget_.pose.pose.position.x;
-  stopline_target_marker.pose.position.y = CurrentStoplineTarget_.pose.pose.position.y;
-  stopline_target_marker.pose.position.z = CurrentStoplineTarget_.pose.pose.position.z;
-  
-  inside_marker = crossroad_marker;
-  inside_marker.scale.x = scale / 3;
-  inside_marker.scale.y = scale / 3;
-  inside_marker.scale.z = 0.4;
-  inside_marker.scale.z = 0.5;
-  inside_marker.color.a = 0.5;
-  inside_marker.color.r = 1.0;
-  inside_marker.color.g = 0.0;
-  inside_marker.color.b = 0.0;
-  inside_marker.ns = "inside";
-  inside_marker.lifetime = ros::Duration();
-   
-
-  inside_marker = crossroad_marker;
-  inside_marker.scale.x = scale / 3;
-  inside_marker.scale.y = scale / 3;
-  inside_marker.scale.z = 0.4;
-  inside_marker.scale.z = 0.5;
-  inside_marker.color.a = 0.5;
-  inside_marker.color.r = 1.0;
-  inside_marker.color.g = 0.0;
-  inside_marker.color.b = 0.0;
-  inside_marker.ns = "inside";
-  inside_marker.lifetime = ros::Duration();
-
-  bbox_array.header = crossroad_marker.header;
-  inside_marker.points.clear();
-
-  inside_line_marker = inside_marker;
-  inside_line_marker.type = visualization_msgs::Marker::LINE_STRIP;
-
-  for (auto &area : intersects)
-  {
-    area.bbox.header = crossroad_marker.header;
-    bbox_array.boxes.push_back(area.bbox);
-    for (const auto &p : area.insideWaypoint_points)
-    {
-      inside_marker.points.push_back(p);
-    }
-
-    for (const auto &lane : area.insideLanes)
-    {
-      inside_line_marker.points.clear();
-      int id = inside_line_marker.id;
-      inside_line_marker.id += 1;
-      inside_marker.scale.x = scale / 3;
-      inside_marker.scale.y = scale / 3;
-      inside_line_marker.color.r = std::fmod(0.12345 * (id), 1.0);
-      inside_line_marker.color.g = std::fmod(0.32345 * (5 - (id % 5)), 1.0);
-      inside_line_marker.color.b = std::fmod(0.52345 * (10 - (id % 10)), 1.0);
-      for (const auto &wp : lane.waypoints)
-      {
-        inside_line_marker.points.push_back(wp.pose.pose.position);
-      }
-      marker_array.markers.push_back(inside_line_marker);
-    }
-  }
-  inside_line_marker.scale.x = 0.2;  // 0.3;
-  inside_line_marker.scale.y = 0.2;  // 0.3;
-  inside_line_marker.color.r = 0;
-  inside_line_marker.color.g = 1;
-  inside_line_marker.color.b = 0.3;
-  inside_line_marker.color.a = 1;
-  inside_line_marker.ns = "shiftline";
-  for (const auto &lane : current_controlled_lane_array_.lanes)
-  {
-    inside_line_marker.points.clear();
-    for (size_t idx = 0; idx < lane.waypoints.size(); idx++)
-    {
-      inside_line_marker.id += 1;
-
-      geometry_msgs::Pose shift_p = lane.waypoints.at(idx).pose.pose;
-
-      double current_angle = getPoseAngle(shift_p);
+  static std::vector<std::string> msg_log;
+  static const size_t log_size = 10;
 
-      shift_p.position.x -= param_shift_width_ * cos(current_angle + M_PI / 2);
-      shift_p.position.y -= param_shift_width_ * sin(current_angle + M_PI / 2);
+  msg_log.push_back(message);
 
-      inside_line_marker.points.push_back(shift_p.position);
-    }
-    marker_array.markers.push_back(inside_line_marker);
+  if (msg_log.size() >= log_size)
+  {
+    msg_log.erase(msg_log.begin());
   }
 
-
-  Pubs["detection_area"].publish(detection_area_marker);
-  Pubs["crossroad_bbox"].publish(bbox_array);
-  Pubs["crossroad_marker"].publish(marker_array);
-  Pubs["stopline_target"].publish(stopline_target_marker);
-  bbox_array.boxes.clear();
-  // Pubs["crossroad_inside_marker"].publish(inside_marker);
-  Pubs["crossroad_inside_marker"].publish(inside_line_marker);
+  std::string joined_msg;
+  for (const auto& i : msg_log)
+  {
+    joined_msg += "> " + i + "\n";
+  }
+  Pubs["operator_help_text"].publish(createOverlayText(joined_msg, 0));
 }
 
 void DecisionMakerNode::update_msgs(void)
 {
-  if (ctx)
+#if 1
+  if (ctx_vehicle && ctx_mission && ctx_drive)
   {
-    static std::string prevStateName;
-    CurrentStateName = ctx->getCurrentStateName();
-
-    if (prevStateName != CurrentStateName)
-    {
-      prevStateName = CurrentStateName;
-      update_pubsub();
-    }
-
-    autoware_msgs::State state_msg;
-    state_msg.main_state = ctx->getCurrentStateName((uint8_t)state_machine::StateKinds::MAIN_STATE);
-    state_msg.acc_state = ctx->getCurrentStateName((uint8_t)state_machine::StateKinds::ACC_STATE);
-    state_msg.str_state = ctx->getCurrentStateName((uint8_t)state_machine::StateKinds::STR_STATE);
-    state_msg.behavior_state = ctx->getCurrentStateName((uint8_t)state_machine::StateKinds::BEHAVIOR_STATE);
-
-    state_string_msg.data = CurrentStateName;
-    // state_text_msg.text = createStateMessageText();
-    state_text_msg.text = state_msg.main_state + "\n" + state_msg.acc_state + "\n" + state_msg.str_state + "\n" +
-                          state_msg.behavior_state + "\n";
-
-    Pubs["states"].publish(state_msg);
-    // Pubs["state"].publish(state_string_msg);
-    Pubs["state_overlay"].publish(state_text_msg);
+    static std::string text_vehicle_state, text_mission_state, text_drive_state;
+    text_vehicle_state = ctx_vehicle->getStateText();
+    text_mission_state = ctx_mission->getStateText();
+    text_drive_state = ctx_drive->getStateText();
+
+    static std_msgs::String state_msg;
+    state_msg.data = text_vehicle_state + text_mission_state + text_drive_state;
+    Pubs["state"].publish(state_msg);
+    Pubs["state_overlay"].publish(createOverlayText(state_msg.data, 1));
+
+    static autoware_msgs::State state_array_msg;
+    state_array_msg.header.stamp = ros::Time::now();
+    state_array_msg.vehicle_state = text_vehicle_state;
+    state_array_msg.mission_state = text_mission_state;
+    state_array_msg.drive_state = text_drive_state;
+    Pubs["state_msg"].publish(state_array_msg);
+
+    static std_msgs::String transition_msg;
+    transition_msg.data = ctx_vehicle->getAvailableTransition() + ctx_mission->getAvailableTransition() +
+                          ctx_drive->getAvailableTransition();
+
+    Pubs["available_transition"].publish(transition_msg);
   }
   else
+  {
     std::cerr << "ctx is not found " << std::endl;
+  }
+#endif
+}
+
+void DecisionMakerNode::publishLightColor(int status)
+{
+  autoware_msgs::TrafficLight msg;
+  msg.traffic_light = status;
+  Pubs["light_color"].publish(msg);
 }
 
-std::string DecisionMakerNode::createStateMessageText()
+void DecisionMakerNode::publishStoplineWaypointIdx(int wp_idx)
 {
-  return ctx->createStateMessageText();
+  std_msgs::Int32 msg;
+  msg.data = wp_idx;
+  Pubs["state/stopline_wpidx"].publish(msg);
 }
 
 void DecisionMakerNode::publishToVelocityArray()
@@ -229,7 +131,7 @@ void DecisionMakerNode::publishToVelocityArray()
   int count = 0;
   std_msgs::Float64MultiArray msg;
 
-  for (const auto &i : current_finalwaypoints_.waypoints)
+  for (const auto& i : current_status_.finalwaypoints.waypoints)
   {
     msg.data.push_back(amathutils::mps2kmph(i.twist.twist.linear.x));
     if (++count >= 10)
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp
new file mode 100644
index 00000000000..0bd4668547d
--- /dev/null
+++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp
@@ -0,0 +1,387 @@
+#include <decision_maker_node.hpp>
+
+namespace decision_maker
+{
+void DecisionMakerNode::updateWaitReadyState(cstring_t& state_name, int status)
+{
+}
+
+void DecisionMakerNode::updateWaitEngageState(cstring_t& state_name, int status)
+{
+}
+
+void DecisionMakerNode::entryDriveState(cstring_t& state_name, int status)
+{
+}
+
+void DecisionMakerNode::updateDriveState(cstring_t& state_name, int status)
+{
+  if (isArrivedGoal())
+  {
+    tryNextState("arrived_goal");
+    return;
+  }
+
+  if (current_status_.closest_waypoint == -1)
+  {
+    publishOperatorHelpMessage("The vehicle passed last waypoint or waypoint does not exist near the vehicle.");
+    tryNextState("mission_aborted");
+    return;
+  }
+
+  if (isVehicleOnLaneArea())
+  {
+    tryNextState("on_lane_area");
+  }
+  else
+  {
+    tryNextState("on_free_area");
+  }
+}
+
+uint8_t DecisionMakerNode::getSteeringStateFromWaypoint(void)
+{
+  static const double distance_to_target = param_num_of_steer_behind_;
+  static const size_t ignore_idx = 0;
+
+  double distance = 0.0;
+  geometry_msgs::Pose prev_pose = current_status_.pose;
+  uint8_t state = 0;
+
+  if (ignore_idx > current_status_.finalwaypoints.waypoints.size())
+  {
+    return 0;
+  }
+
+  for (unsigned int idx = 0; idx < current_status_.finalwaypoints.waypoints.size() - 1; idx++)
+  {
+    distance += amathutils::find_distance(prev_pose, current_status_.finalwaypoints.waypoints.at(idx).pose.pose);
+
+    state = current_status_.finalwaypoints.waypoints.at(idx).wpstate.steering_state;
+
+    if (state && (state != autoware_msgs::WaypointState::STR_STRAIGHT || distance >= distance_to_target))
+    {
+      break;
+    }
+    prev_pose = current_status_.finalwaypoints.waypoints.at(idx).pose.pose;
+  }
+  return state;
+}
+uint8_t DecisionMakerNode::getEventStateFromWaypoint(void)
+{
+  static const double distance_to_target = param_num_of_steer_behind_;
+  static const size_t ignore_idx = 0;
+
+  double distance = 0.0;
+  geometry_msgs::Pose prev_pose = current_status_.pose;
+  uint8_t state = 0;
+
+  if (ignore_idx > current_status_.finalwaypoints.waypoints.size())
+  {
+    return 0;
+  }
+
+  for (unsigned int idx = 0; idx < current_status_.finalwaypoints.waypoints.size() - 1; idx++)
+  {
+    distance += amathutils::find_distance(prev_pose, current_status_.finalwaypoints.waypoints.at(idx).pose.pose);
+
+    state = current_status_.finalwaypoints.waypoints.at(idx).wpstate.event_state;
+
+    if (state && (state != autoware_msgs::WaypointState::TYPE_EVENT_NULL || distance >= distance_to_target))
+    {
+      break;
+    }
+    prev_pose = current_status_.finalwaypoints.waypoints.at(idx).pose.pose;
+  }
+  return state;
+}
+std::pair<uint8_t, int> DecisionMakerNode::getStopSignStateFromWaypoint(void)
+{
+  static const size_t ignore_idx = 0;
+  static const double mu = 0.7;  // dry ground/ asphalt/ normal tire
+  static const double g = 9.80665;
+  static const double margin = 5;
+  static const double reaction_time = 0.3 + margin;  // system delay(sec)
+  static const size_t reset_count = stopline_reset_count_;
+  const double velocity = amathutils::kmph2mps(current_status_.velocity);
+
+  const double free_running_distance = reaction_time * velocity;
+  const double braking_distance = velocity * velocity / (2 * g * mu);
+  const double distance_to_target = (free_running_distance + braking_distance) * 2 /* safety margin*/;
+
+  std::pair<uint8_t, int> ret(0, -1);
+
+  double distance = 0.0;
+  geometry_msgs::Pose prev_pose = current_status_.pose;
+  uint8_t state = 0;
+
+  if (ignore_idx > current_status_.finalwaypoints.waypoints.size() ||
+      3 > current_status_.finalwaypoints.waypoints.size())
+  {
+    return ret;
+  }
+
+  // reset previous stop
+  if (current_status_.finalwaypoints.waypoints.at(1).gid > current_status_.prev_stopped_wpidx ||
+      (unsigned int)(current_status_.prev_stopped_wpidx - current_status_.finalwaypoints.waypoints.at(1).gid) >
+          reset_count)
+  {
+    current_status_.prev_stopped_wpidx = -1;
+  }
+
+  for (unsigned int idx = 0; idx < current_status_.finalwaypoints.waypoints.size() - 1; idx++)
+  {
+    distance += amathutils::find_distance(prev_pose, current_status_.finalwaypoints.waypoints.at(idx).pose.pose);
+    state = current_status_.finalwaypoints.waypoints.at(idx).wpstate.stop_state;
+
+    if (state)
+    {
+      if (current_status_.prev_stopped_wpidx != current_status_.finalwaypoints.waypoints.at(idx).gid)
+      {
+        ret.first = state;
+        ret.second = current_status_.finalwaypoints.waypoints.at(idx).gid;
+        break;
+      }
+    }
+
+    if (distance > distance_to_target)
+    {
+      break;
+    }
+
+    prev_pose = current_status_.finalwaypoints.waypoints.at(idx).pose.pose;
+  }
+  return ret;
+}
+void DecisionMakerNode::updateLaneAreaState(cstring_t& state_name, int status)
+{
+  if (current_status_.finalwaypoints.waypoints.empty())
+  {
+    ROS_WARN("\"/final_waypoints.\" is not contain waypoints");
+    return;
+  }
+
+  switch (getEventStateFromWaypoint())
+  {
+    case autoware_msgs::WaypointState::TYPE_EVENT_BUS_STOP:
+      tryNextState("on_bus_stop");
+      break;
+    default:
+      tryNextState("on_cruise");
+      break;
+  }
+}
+
+void DecisionMakerNode::updateCruiseState(cstring_t& state_name, int status)
+{
+  if (isEventFlagTrue("received_back_state_waypoint"))
+  {
+    tryNextState("on_back");
+    return;
+  }
+
+  if (current_status_.change_flag == enumToInteger<E_ChangeFlags>(E_ChangeFlags::STRAIGHT))
+  {
+    switch (getSteeringStateFromWaypoint())
+    {
+      case autoware_msgs::WaypointState::STR_LEFT:
+        tryNextState("on_left_turn");
+        break;
+      case autoware_msgs::WaypointState::STR_RIGHT:
+        tryNextState("on_right_turn");
+        break;
+      case autoware_msgs::WaypointState::STR_STRAIGHT:
+        tryNextState("on_straight");
+        break;
+      default:
+        break;
+    }
+  }
+  else
+  {
+    if (current_status_.change_flag == enumToInteger<E_ChangeFlags>(E_ChangeFlags::LEFT))
+    {
+      tryNextState("lane_change_left");
+    }
+    else if (current_status_.change_flag == enumToInteger<E_ChangeFlags>(E_ChangeFlags::RIGHT))
+    {
+      tryNextState("lane_change_right");
+    }
+  }
+}
+
+void DecisionMakerNode::updateFreeAreaState(cstring_t& state_name, int status)
+{
+}
+
+void DecisionMakerNode::updateBusStopState(cstring_t& state_name, int status)
+{
+}
+
+void DecisionMakerNode::updatePullInState(cstring_t& state_name, int status)
+{
+  publishLampCmd(E_Lamp::LAMP_LEFT);
+}
+
+void DecisionMakerNode::updatePullOutState(cstring_t& state_name, int status)
+{
+  publishLampCmd(E_Lamp::LAMP_RIGHT);
+}
+
+void DecisionMakerNode::entryTurnState(cstring_t& state_name, int status)
+{
+  std::pair<uint8_t, int> get_stopsign = getStopSignStateFromWaypoint();
+  if (get_stopsign.first != 0)
+  {
+    current_status_.found_stopsign_idx = get_stopsign.second;
+    tryNextState("found_stopline");
+    return;
+  }
+  else if (isEventFlagTrue("entry_stop_state"))
+  {
+    tryNextState("found_obstacle_in_stopped_area");
+    return;
+  }
+  tryNextState("clear");
+}
+
+void DecisionMakerNode::updateLeftTurnState(cstring_t& state_name, int status)
+{
+  publishLampCmd(E_Lamp::LAMP_LEFT);
+}
+
+void DecisionMakerNode::updateStraightState(cstring_t& state_name, int status)
+{
+  publishLampCmd(E_Lamp::LAMP_CLEAR);
+}
+
+void DecisionMakerNode::updateRightTurnState(cstring_t& state_name, int status)
+{
+  publishLampCmd(E_Lamp::LAMP_RIGHT);
+}
+
+void DecisionMakerNode::entryLaneChangeState(cstring_t& state_name, int status)
+{
+  tryNextState("check_target_lane");
+}
+void DecisionMakerNode::updateLeftLaneChangeState(cstring_t& state_name, int status)
+{
+  publishLampCmd(E_Lamp::LAMP_LEFT);
+}
+void DecisionMakerNode::updateRightLaneChangeState(cstring_t& state_name, int status)
+{
+  publishLampCmd(E_Lamp::LAMP_RIGHT);
+}
+
+void DecisionMakerNode::updateCheckLeftLaneState(cstring_t& state_name, int status)
+{
+}
+
+void DecisionMakerNode::updateCheckRightLaneState(cstring_t& state_name, int status)
+{
+}
+
+void DecisionMakerNode::updateChangeToLeftState(cstring_t& state_name, int status)
+{
+}
+
+void DecisionMakerNode::updateChangeToRightState(cstring_t& state_name, int status)
+{
+}
+
+void DecisionMakerNode::updateBackState(cstring_t& state_name, int status)
+{
+  publishLampCmd(E_Lamp::LAMP_CLEAR);
+}
+
+void DecisionMakerNode::updateParkingState(cstring_t& state_name, int status)
+{
+  publishLampCmd(E_Lamp::LAMP_HAZARD);
+}
+
+void DecisionMakerNode::entryGoState(cstring_t& state_name, int status)
+{
+  setEventFlag("entry_stop_state", false);
+}
+void DecisionMakerNode::updateGoState(cstring_t& state_name, int status)
+{
+  std::pair<uint8_t, int> get_stopsign = getStopSignStateFromWaypoint();
+  if (get_stopsign.first != 0)
+  {
+    current_status_.found_stopsign_idx = get_stopsign.second;
+    tryNextState("found_stopline");
+  }
+
+}
+
+void DecisionMakerNode::updateWaitState(cstring_t& state_name, int status)
+{
+  /* clear,*/
+  publishStoplineWaypointIdx(current_status_.closest_waypoint + 1);
+}
+
+void DecisionMakerNode::entryStopState(cstring_t& state_name, int status)
+{
+  setEventFlag("entry_stop_state", true);
+}
+void DecisionMakerNode::updateStopState(cstring_t& state_name, int status)
+{
+  publishStoplineWaypointIdx(current_status_.closest_waypoint + 1);
+}
+
+void DecisionMakerNode::updateStoplineState(cstring_t& state_name, int status)
+{
+  std::pair<uint8_t, int> get_stopsign = getStopSignStateFromWaypoint();
+  if (get_stopsign.first != 0)
+  {
+    current_status_.found_stopsign_idx = get_stopsign.second;
+  }
+
+  publishStoplineWaypointIdx(current_status_.found_stopsign_idx);
+  /* wait for clearing risk*/
+
+  static bool timerflag = false;
+  static ros::Timer stopping_timer;
+
+  if (current_status_.velocity == 0.0 && !timerflag && (current_status_.obstacle_waypoint + current_status_.closest_waypoint) == current_status_.found_stopsign_idx)
+  {
+    stopping_timer = nh_.createTimer(ros::Duration(0.5),
+                                     [&](const ros::TimerEvent&) {
+                                       timerflag = false;
+                                       current_status_.prev_stopped_wpidx = current_status_.found_stopsign_idx;
+                                       tryNextState("clear");
+                                       /*if found risk,
+                                        * tryNextState("found_risk");*/
+                                     },
+                                     this, true);
+    timerflag = true;
+  }
+}
+void DecisionMakerNode::exitStopState(cstring_t& state_name, int status)
+{
+  std::pair<uint8_t, int> get_stopsign = getStopSignStateFromWaypoint();
+  if (get_stopsign.first != 0)
+  {
+    current_status_.found_stopsign_idx = get_stopsign.second;
+  }
+  else
+  {
+    current_status_.found_stopsign_idx = -1;
+    publishStoplineWaypointIdx(current_status_.found_stopsign_idx);
+  }
+}
+
+void DecisionMakerNode::entryDriveEmergencyState(cstring_t& state_name, int status)
+{
+  setEventFlag("emergency_flag", true);
+  tryNextState("mission_aborted");
+}
+void DecisionMakerNode::updateDriveEmergencyState(cstring_t& state_name, int status)
+{
+}
+void DecisionMakerNode::exitDriveEmergencyState(cstring_t& state_name, int status)
+{
+  setEventFlag("emergency_flag", false);
+}
+
+}
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp
new file mode 100644
index 00000000000..d9fcec2a348
--- /dev/null
+++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp
@@ -0,0 +1,228 @@
+#include <decision_maker_node.hpp>
+
+namespace decision_maker
+{
+void DecisionMakerNode::entryWaitVehicleReadyState(cstring_t& state_name, int status)
+{
+}
+void DecisionMakerNode::updateWaitVehicleReadyState(cstring_t& state_name, int status)
+{
+}
+
+void DecisionMakerNode::entryWaitOrderState(cstring_t& state_name, int status)
+{
+  publishOperatorHelpMessage("Please load mission order (waypoints).");
+  setEventFlag("received_based_lane_waypoint", false);
+  if (!isSubscriberRegistered("lane_waypoints_array"))
+  {
+    Subs["lane_waypoints_array"] =
+        nh_.subscribe(TPNAME_BASED_LANE_WAYPOINTS_ARRAY, 1, &DecisionMakerNode::callbackFromLaneWaypoint, this);
+  }
+}
+
+void DecisionMakerNode::updateWaitOrderState(cstring_t& state_name, int status)
+{
+  if (isEventFlagTrue("received_based_lane_waypoint"))
+  {
+    setEventFlag("received_based_lane_waypoint", false);
+    tryNextState("received_mission_order");
+  }
+}
+void DecisionMakerNode::exitWaitOrderState(cstring_t& state_name, int status)
+{
+}
+
+void DecisionMakerNode::entryMissionCheckState(cstring_t& state_name, int status)
+{
+  intersects.clear();
+  initVectorMap();
+
+  publishOperatorHelpMessage("Received mission, checking now...");
+  setEventFlag("received_back_state_waypoint", false);
+
+  int gid = 0;
+  for (auto& lane : current_status_.based_lane_array.lanes)
+  {
+    int lid = 0;
+    for (auto& wp : lane.waypoints)
+    {
+      wp.wpstate.aid = 0;
+      wp.wpstate.steering_state = autoware_msgs::WaypointState::NULLSTATE;
+      wp.wpstate.accel_state = autoware_msgs::WaypointState::NULLSTATE;
+      wp.wpstate.stop_state = autoware_msgs::WaypointState::NULLSTATE;
+      wp.wpstate.lanechange_state = autoware_msgs::WaypointState::NULLSTATE;
+      wp.wpstate.event_state = 0;
+      wp.gid = gid++;
+      wp.lid = lid++;
+      if (!isEventFlagTrue("received_back_state_waypoint") && wp.twist.twist.linear.x < 0.0)
+      {
+        setEventFlag("received_back_state_waypoint", true);
+        publishOperatorHelpMessage("Received back waypoint.");
+      }
+    }
+  }
+
+  // waypoint-state set and insert interpolation waypoint for stopline
+  setWaypointState(current_status_.based_lane_array);
+
+  // indexing
+  gid = 0;
+  for (auto& lane : current_status_.based_lane_array.lanes)
+  {
+    int lid = 0;
+    for (auto& wp : lane.waypoints)
+    {
+      wp.gid = gid++;
+      wp.lid = lid++;
+    }
+  }
+
+  current_status_.using_lane_array = current_status_.based_lane_array;
+  Pubs["lane_waypoints_array"].publish(current_status_.using_lane_array);
+  if (!isSubscriberRegistered("final_waypoints"))
+  {
+    Subs["final_waypoints"] =
+        nh_.subscribe("final_waypoints", 1, &DecisionMakerNode::callbackFromFinalWaypoint, this);
+  }
+}
+void DecisionMakerNode::updateMissionCheckState(cstring_t& state_name, int status)
+{
+  if (isEventFlagTrue("received_finalwaypoints") && current_status_.closest_waypoint != -1)
+  {
+    if (current_status_.finalwaypoints.waypoints.size() < 5)
+      publishOperatorHelpMessage("Finalwaypoints is too short.If you wont to Engage,\nplease publish \"mission_is_compatible\" key by \"state_cmd\" topic.");
+    else
+      tryNextState("mission_is_compatible");
+  }
+  else
+  {
+    if (current_status_.closest_waypoint == -1)
+      publishOperatorHelpMessage("[ERROR]Couldn't received \"closest_waypoint\" or its value is -1.");
+    if (!isEventFlagTrue("received_finalwaypoints"))
+      publishOperatorHelpMessage("[ERROR]Couldn't received \"final_waypoints\".");
+  }
+}
+
+void DecisionMakerNode::entryMissionAbortedState(cstring_t& state_name, int status)
+{
+  tryNextState("operation_end");
+}
+void DecisionMakerNode::updateMissionAbortedState(cstring_t& state_name, int status)
+{
+  if (!use_fms_)
+  {
+    sleep(1);
+    tryNextState("goto_wait_order");
+    return;
+  }
+}
+
+void DecisionMakerNode::entryDriveReadyState(cstring_t& state_name, int status)
+{
+  publishOperatorHelpMessage("Please order to engage");
+}
+
+void DecisionMakerNode::updateDriveReadyState(cstring_t& state_name, int status)
+{
+  if (!use_fms_ && auto_engage_)
+  {
+    tryNextState("engage");
+  }
+}
+
+void DecisionMakerNode::entryDrivingState(cstring_t& state_name, int status)
+{
+  setEventFlag("received_based_lane_waypoint", false);
+
+  if (isEventFlagTrue("emergency_flag"))
+  {
+    tryNextState("mission_aborted");
+    return;
+  }
+
+  tryNextState("operation_start");
+}
+void DecisionMakerNode::updateDrivingState(cstring_t& state_name, int status)
+{
+  if (isEventFlagTrue("emergency_flag"))
+  {
+    tryNextState("mission_aborted");
+  }
+
+  if (!use_fms_ && auto_mission_change_ && isEventFlagTrue("received_based_lane_waypoint"))
+  {
+    tryNextState("request_mission_change");
+  }
+}
+void DecisionMakerNode::exitDrivingState(cstring_t& state_name, int status)
+{
+}
+
+void DecisionMakerNode::entryDrivingMissionChangeState(cstring_t& state_name, int status)
+{
+  if (!auto_mission_change_)
+    setEventFlag("received_based_lane_waypoint", false);
+}
+
+void DecisionMakerNode::updateDrivingMissionChangeState(cstring_t& state_name, int status)
+{
+  if (isEventFlagTrue("received_based_lane_waypoint"))
+  {
+    setEventFlag("received_based_lane_waypoint", false);
+    if (!drivingMissionCheck())
+    {
+      publishOperatorHelpMessage("Failed to change the mission.");
+      tryNextState("mission_is_conflicting");
+      return;
+    }
+    else
+    {
+      publishOperatorHelpMessage("Mission change succeeded.");
+      tryNextState("mission_is_compatible");
+      return;
+    }
+  }
+}
+
+void DecisionMakerNode::updateMissionChangeSucceededState(cstring_t& state_name, int status)
+{
+  if (!use_fms_)
+  {
+    sleep(1);
+    tryNextState("return_to_driving");
+  }
+}
+void DecisionMakerNode::updateMissionChangeFailedState(cstring_t& state_name, int status)
+{
+  if (!use_fms_)
+  {
+    sleep(1);
+    tryNextState("return_to_driving");
+  }
+}
+
+void DecisionMakerNode::entryMissionCompleteState(cstring_t& state_name, int status)
+{
+  setEventFlag("received_based_lane_waypoint", false);
+  tryNextState("operation_end");
+}
+void DecisionMakerNode::updateMissionCompleteState(cstring_t& state_name, int status)
+{
+  setEventFlag("received_based_lane_waypoint", false);
+  if (!use_fms_)
+  {
+    if (auto_mission_reload_)
+    {
+      publishOperatorHelpMessage("Reload mission.");
+      tryNextState("re_enter_mission");
+      return;
+    }
+    else
+    {
+      sleep(1);
+      tryNextState("goto_wait_order");
+      return;
+    }
+  }
+}
+}
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp
new file mode 100644
index 00000000000..d5703fe6eb3
--- /dev/null
+++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp
@@ -0,0 +1,151 @@
+#include <decision_maker_node.hpp>
+
+namespace decision_maker
+{
+void DecisionMakerNode::entryInitState(cstring_t& state_name, int status)
+{
+  ROS_INFO("Hello Autoware World");
+
+  ROS_INFO("ROS is ready");
+
+  tryNextState("init_start");
+}
+
+void DecisionMakerNode::updateInitState(cstring_t& state_name, int status)
+{
+  static bool is_first_callback = true;
+
+  if (!is_first_callback)
+  {
+    return;
+  }
+  ROS_INFO("Autoware is initializing now");
+  is_first_callback = false;
+}
+
+void DecisionMakerNode::entrySensorInitState(cstring_t& state_name, int status)
+{
+  Subs["filtered_points"] = nh_.subscribe("filtered_points", 1, &DecisionMakerNode::callbackFromFilteredPoints, this);
+  publishOperatorHelpMessage("Please publish \"filtered_points\"");
+}
+
+void DecisionMakerNode::updateSensorInitState(cstring_t& state_name, int status)
+{
+  const double timeout = 1;
+
+  std::vector<std::string> node_list;
+
+  ros::master::getNodes(node_list);
+  for (const auto& i : node_list)
+  {
+    if ("/wf_simulator" == i)
+    {
+      setEventFlag("on_mode_sim", true);
+    }
+  }
+
+  if (isEventFlagTrue("on_mode_sim"))
+  {
+    ROS_INFO("DecisionMaker is in simulation mode");
+    tryNextState("sensor_is_ready");
+    return;
+  }
+  else if (isEventFlagTrue("received_pointcloud_for_NDT"))
+  {
+    tryNextState("sensor_is_ready");
+  }
+  ROS_INFO("DecisionMaker is waiting filtered_point for NDT");
+}
+
+void DecisionMakerNode::entryMapInitState(cstring_t& state_name, int status)
+{
+  publishOperatorHelpMessage("Please load map");
+}
+
+void DecisionMakerNode::updateMapInitState(cstring_t& state_name, int status)
+{
+  bool vmap_loaded = false;
+
+  g_vmap.subscribe(nh_, Category::POINT | Category::LINE | Category::VECTOR | Category::AREA |
+                            Category::STOP_LINE | Category::ROAD_SIGN | Category::CROSS_ROAD,
+                   ros::Duration(5.0));
+
+  vmap_loaded =
+      g_vmap.hasSubscribed(Category::POINT | Category::LINE | Category::AREA |
+                            Category::STOP_LINE | Category::ROAD_SIGN);
+
+  if (!vmap_loaded)
+  {
+    ROS_WARN("Necessary vectormap have not been loaded");
+    ROS_WARN("DecisionMaker keeps on waiting until it loads");
+    if (disuse_vector_map_)
+    {
+      ROS_WARN("Disuse vectormap mode.");
+      tryNextState("map_is_ready");
+    }
+  }
+  else
+  {
+    initVectorMap();
+    tryNextState("map_is_ready");
+  }
+}
+
+void DecisionMakerNode::entryLocalizationInitState(cstring_t& state_name, int status)
+{
+  Subs["current_pose"] = nh_.subscribe("current_pose", 5, &DecisionMakerNode::callbackFromCurrentPose, this);
+  publishOperatorHelpMessage("Please start localization in stopped.");
+}
+
+void DecisionMakerNode::updateLocalizationInitState(cstring_t& state_name, int status)
+{
+  if (isLocalizationConvergence(current_status_.pose.position))
+  {
+    tryNextState("localization_is_ready");
+  }
+}
+
+void DecisionMakerNode::entryPlanningInitState(cstring_t& state_name, int status)
+{
+  Subs["closest_waypoint"] =
+      nh_.subscribe("closest_waypoint", 1, &DecisionMakerNode::callbackFromClosestWaypoint, this);
+}
+
+void DecisionMakerNode::updatePlanningInitState(cstring_t& state_name, int status)
+{
+  tryNextState("planning_is_ready");
+}
+
+void DecisionMakerNode::entryVehicleInitState(cstring_t& state_name, int status)
+{
+  publishOperatorHelpMessage("Please prepare vehicle for depature.");
+}
+
+void DecisionMakerNode::updateVehicleInitState(cstring_t& state_name, int status)
+{
+  if (true /*isEventFlagTrue("received_vehicle_status")*/)
+  {
+    tryNextState("vehicle_is_ready");
+  }
+}
+
+void DecisionMakerNode::entryVehicleReadyState(cstring_t& state_name, int status)
+{
+}
+
+void DecisionMakerNode::updateVehicleReadyState(cstring_t& state_name, int status)
+{
+  if (isEventFlagTrue("emergency_flag"))
+  {
+    tryNextState("emergency");
+  }
+}
+
+void DecisionMakerNode::entryVehicleEmergencyState(cstring_t& state_name, int status)
+{
+}
+
+void DecisionMakerNode::updateVehicleEmergencyState(cstring_t& state_name, int status)
+{
+}
+}
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_stateupdate.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_stateupdate.cpp
deleted file mode 100644
index e189c49ff4a..00000000000
--- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_stateupdate.cpp
+++ /dev/null
@@ -1,463 +0,0 @@
-#include <ros/ros.h>
-
-#include <state_machine_lib/state.hpp>
-#include <state_machine_lib/state_context.hpp>
-
-#include <autoware_msgs/LampCmd.h>
-#include <decision_maker_node.hpp>
-
-namespace decision_maker
-{
-void DecisionMakerNode::setupStateCallback(void)
-{
-  // steering state. these state's update function change lamp
-  ctx->setCallbackUpdateFunc(state_machine::DRIVE_STR_STRAIGHT_STATE,
-                             std::bind(&DecisionMakerNode::updateStateSTR, this, 0));
-  ctx->setCallbackUpdateFunc(state_machine::DRIVE_STR_LEFT_STATE,
-                             std::bind(&DecisionMakerNode::updateStateSTR, this, 1));
-  ctx->setCallbackUpdateFunc(state_machine::DRIVE_STR_RIGHT_STATE,
-                             std::bind(&DecisionMakerNode::updateStateSTR, this, 2));
-
-  // stopline stop state
-  ctx->setCallbackUpdateFunc(state_machine::DRIVE_ACC_STOPLINE_STATE,
-                             std::bind(&DecisionMakerNode::updateStateStop, this, 1));
-  ctx->setCallbackInFunc(state_machine::DRIVE_ACC_STOPLINE_STATE,
-                         std::bind(&DecisionMakerNode::callbackInStateStop, this, 1));
-  ctx->setCallbackOutFunc(state_machine::DRIVE_ACC_STOPLINE_STATE,
-                          std::bind(&DecisionMakerNode::callbackOutStateStop, this, 1));
-
-  // stopping state
-  ctx->setCallbackUpdateFunc(state_machine::DRIVE_ACC_STOP_STATE,
-                             std::bind(&DecisionMakerNode::updateStateStop, this, 0));
-  ctx->setCallbackInFunc(state_machine::DRIVE_ACC_STOP_STATE,
-                         std::bind(&DecisionMakerNode::callbackInStateStop, this, 0));
-
-  ctx->setCallbackInFunc(state_machine::DRIVE_BEHAVIOR_STOPLINE_PLAN_STATE,
-                         std::bind(&DecisionMakerNode::StoplinePlanIn, this, 1));
-  ctx->setCallbackOutFunc(state_machine::DRIVE_BEHAVIOR_STOPLINE_PLAN_STATE,
-                          std::bind(&DecisionMakerNode::StoplinePlanOut, this, 1));
-
-  // speed keep(original speed) state
-  ctx->setCallbackInFunc(state_machine::DRIVE_ACC_KEEP_STATE,
-                         std::bind(&DecisionMakerNode::callbackInStateKeep, this, 1));
-
-  // crawl
-  ctx->setCallbackInFunc(state_machine::DRIVE_ACC_CRAWL_STATE,
-                         std::bind(&DecisionMakerNode::callbackInStateAcc, this, 0));
-
-  // acceleration
-  ctx->setCallbackInFunc(state_machine::DRIVE_ACC_ACCELERATION_STATE,
-                         std::bind(&DecisionMakerNode::callbackInStateAcc, this, 1));
-
-  // deceleration
-  ctx->setCallbackInFunc(state_machine::DRIVE_ACC_DECELERATION_STATE,
-                         std::bind(&DecisionMakerNode::callbackInStateAcc, this, -1));
-
-  // LaneChange
-  ctx->setCallbackOutFunc(state_machine::DRIVE_BEHAVIOR_LANECHANGE_LEFT_STATE,
-                          std::bind(&DecisionMakerNode::callbackOutStateLaneChange, this, 1));
-  ctx->setCallbackOutFunc(state_machine::DRIVE_BEHAVIOR_LANECHANGE_RIGHT_STATE,
-                          std::bind(&DecisionMakerNode::callbackOutStateLaneChange, this, 1));
-
-  // obstacle avoidance
-  ctx->setCallbackUpdateFunc(state_machine::DRIVE_BEHAVIOR_OBSTACLE_AVOIDANCE_STATE,
-                             std::bind(&DecisionMakerNode::updateStateObstacleAvoid, this, -1));
-  ctx->setCallbackInFunc(state_machine::DRIVE_BEHAVIOR_OBSTACLE_AVOIDANCE_STATE,
-                         std::bind(&DecisionMakerNode::callbackInStateObstacleAvoid, this, -1));
-  ctx->setCallbackOutFunc(state_machine::DRIVE_BEHAVIOR_OBSTACLE_AVOIDANCE_STATE,
-                          std::bind(&DecisionMakerNode::callbackOutStateObstacleAvoid, this, 1));
-
-  // trraficlight
-  ctx->setCallbackInFunc(state_machine::DRIVE_BEHAVIOR_TRAFFICLIGHT_RED_STATE, [&]() {
-    ctx->disableCurrentState(state_machine::DRIVE_BEHAVIOR_TRAFFICLIGHT_GREEN_STATE);
-    publishLightColor((int)state_machine::E_RED);
-  });
-  ctx->setCallbackInFunc(state_machine::DRIVE_BEHAVIOR_TRAFFICLIGHT_GREEN_STATE, [&]() {
-    ctx->disableCurrentState(state_machine::DRIVE_BEHAVIOR_TRAFFICLIGHT_RED_STATE);
-    publishLightColor((int)state_machine::E_GREEN);
-  });
-
-#if 0
-  ctx->setCallbackUpdateFunc(state_machine::DRIVE_BEHAVIOR_TRAFFICLIGHT_RED_STATE,
-                             std::bind(&DecisionMakerNode::publishLightColor, this, (int)state_machine::E_RED));
-  ctx->setCallbackUpdateFunc(state_machine::DRIVE_BEHAVIOR_TRAFFICLIGHT_GREEN_STATE,
-                             std::bind(&DecisionMakerNode::publishLightColor, this, (int)state_machine::E_GREEN));
-  ctx->setCallbackInFunc(state_machine::DRIVE_BEHAVIOR_TRAFFICLIGHT_GREEN_STATE,
-                         [&]() { ctx->disableCurrentState(state_machine::DRIVE_BEHAVIOR_TRAFFICLIGHT_RED_STATE); });
-  ctx->setCallbackUpdateFunc(state_machine::DRIVE_BEHAVIOR_TRAFFICLIGHT_GREEN_STATE,
-                             std::bind(&DecisionMakerNode::publishLightColor, this, (int)state_machine::E_GREEN));
-#endif
-}
-
-void DecisionMakerNode::callbackOutStateLaneChange(int status)
-{
-  if (ctx->isCurrentState(state_machine::DRIVE_BEHAVIOR_ACCEPT_LANECHANGE_STATE))
-  {
-    ctx->disableCurrentState(state_machine::DRIVE_BEHAVIOR_ACCEPT_LANECHANGE_STATE);
-  }
-}
-
-void DecisionMakerNode::publishLightColor(int status)
-{
-  autoware_msgs::TrafficLight msg;
-  msg.traffic_light = status;
-  Pubs["light_color"].publish(msg);
-}
-
-void DecisionMakerNode::publishStoplineWaypointIdx(int wp_idx)
-{
-  std_msgs::Int32 msg;
-  msg.data = wp_idx;
-  Pubs["state/stopline_wpidx"].publish(msg);
-}
-
-#define SHIFTED_LANE_FLAG -99999
-void DecisionMakerNode::createShiftLane(void)
-{
-  bool isRightShift = param_shift_width_ >= 0;
-
-  autoware_msgs::LaneArray shift_lanes = current_shifted_lane_array_ = current_based_lane_array_;
-  if (!current_shifted_lane_array_.lanes.empty())
-  {
-    size_t lane_idx = 0;
-    for (auto& lane : shift_lanes.lanes)
-    {
-      lane.increment = SHIFTED_LANE_FLAG;
-      size_t wp_idx = 0;
-      for (auto& wp : lane.waypoints)
-      {
-        double angle = getPoseAngle(wp.pose.pose);
-        wp.pose.pose.position.x -= param_shift_width_ * cos(angle + M_PI / 2);
-        wp.pose.pose.position.y -= param_shift_width_ * sin(angle + M_PI / 2);
-        wp.change_flag = current_based_lane_array_.lanes.at(lane_idx).waypoints.at(wp_idx++).change_flag;
-      }
-      lane_idx++;
-    }
-  }
-  int insert_lane_idx_offset = isRightShift ? 1 : 0;
-  auto it_shift = begin(shift_lanes.lanes);
-  try
-  {
-    for (auto it = begin(current_shifted_lane_array_.lanes);
-         it != end(current_shifted_lane_array_.lanes) && it_shift != end(shift_lanes.lanes);)
-    {
-      for (auto& wp : it->waypoints)
-      {
-        wp.change_flag = isRightShift ? 1 : 2;
-      }
-      it = current_shifted_lane_array_.lanes.insert(it + insert_lane_idx_offset, *(it_shift++));
-      it++;
-      if (!isRightShift)
-      {
-        it++;
-      }
-    }
-  }
-  catch (std::length_error)
-  {
-  }
-}
-
-void DecisionMakerNode::changeShiftLane(void)
-{
-  auto based_it = begin(current_shifted_lane_array_.lanes);
-
-  for (auto& lane : current_shifted_lane_array_.lanes)
-  {
-    if (lane.increment == SHIFTED_LANE_FLAG)
-    {
-      for (auto& wp : lane.waypoints)
-      {
-        wp.change_flag = param_shift_width_ >= 0 ? 2 : 1;
-      }
-    }
-    else
-    {
-      auto based_wp_it = begin(based_it++->waypoints);
-      for (auto& wp : lane.waypoints)
-      {
-        wp.change_flag = based_wp_it++->change_flag;
-      }
-    }
-  }
-}
-
-void DecisionMakerNode::removeShiftLane(void)
-{
-  current_shifted_lane_array_ = current_based_lane_array_;
-}
-
-void DecisionMakerNode::updateLaneWaypointsArray(void)
-{
-  current_stopped_lane_array_ = current_controlled_lane_array_;
-
-  for (auto& lane : current_stopped_lane_array_.lanes)
-  {
-    for (auto& wp : lane.waypoints)
-    {
-      wp.twist.twist.linear.x = 0.0;
-      wp.wpstate.stop_state = 0;
-    }
-  }
-  for (auto& lane : current_shifted_lane_array_.lanes)
-  {
-    for (auto& wp : lane.waypoints)
-    {
-      // if stopped at stopline, to delete flags already used.
-      if (CurrentStoplineTarget_.gid - 2 <= wp.gid && wp.gid <= CurrentStoplineTarget_.gid + 2)
-      {
-        wp.wpstate.stop_state = 0;
-      }
-    }
-  }
-}
-
-void DecisionMakerNode::publishControlledLaneArray(void)
-{
-  Pubs["lane_waypoints_array"].publish(current_controlled_lane_array_);
-}
-void DecisionMakerNode::publishStoppedLaneArray(void)
-{
-  updateLaneWaypointsArray();
-  Pubs["lane_waypoints_array"].publish(current_stopped_lane_array_);
-}
-
-void DecisionMakerNode::changeVelocityBasedLane(void)
-{
-  current_controlled_lane_array_ = current_shifted_lane_array_;
-}
-
-void DecisionMakerNode::setAllStoplineStop(void)
-{
-  std::vector<StopLine> stoplines = g_vmap.findByFilter([&](const StopLine& stopline) { return true; });
-
-  for (auto& lane : current_shifted_lane_array_.lanes)
-  {
-    for (size_t wp_idx = 0; wp_idx < lane.waypoints.size() - 1; wp_idx++)
-    {
-      for (auto& stopline : stoplines)
-      {
-        geometry_msgs::Point bp =
-            to_geoPoint(g_vmap.findByKey(Key<Point>(g_vmap.findByKey(Key<Line>(stopline.lid)).bpid)));
-        geometry_msgs::Point fp =
-            to_geoPoint(g_vmap.findByKey(Key<Point>(g_vmap.findByKey(Key<Line>(stopline.lid)).fpid)));
-
-        if (amathutils::isIntersectLine(lane.waypoints.at(wp_idx).pose.pose.position.x,
-                                        lane.waypoints.at(wp_idx).pose.pose.position.y,
-                                        lane.waypoints.at(wp_idx + 1).pose.pose.position.x,
-                                        lane.waypoints.at(wp_idx + 1).pose.pose.position.y, bp.x, bp.y, fp.x, fp.y))
-        {
-          geometry_msgs::Point center_point;
-          center_point.x = (bp.x * 2 + fp.x) / 3;
-          center_point.y = (bp.y * 2 + fp.y) / 3;
-          if (amathutils::isPointLeftFromLine(
-                  center_point.x, center_point.y, lane.waypoints.at(wp_idx).pose.pose.position.x,
-                  lane.waypoints.at(wp_idx).pose.pose.position.y, lane.waypoints.at(wp_idx + 1).pose.pose.position.x,
-                  lane.waypoints.at(wp_idx + 1).pose.pose.position.y))
-          {
-            amathutils::point* a = new amathutils::point();
-            amathutils::point* b = new amathutils::point();
-            a->x = center_point.x;
-            a->y = center_point.y;
-            b->x = lane.waypoints.at(wp_idx).pose.pose.position.x;
-            b->y = lane.waypoints.at(wp_idx).pose.pose.position.y;
-            if (amathutils::find_distance(a, b) <= 4)  //
-              lane.waypoints.at(wp_idx).wpstate.stop_state = 1;
-          }
-        }
-      }
-    }
-  }
-}
-
-void DecisionMakerNode::StoplinePlanIn(int status)
-{
-  setAllStoplineStop();
-  changeVelocityBasedLane();
-  publishControlledLaneArray();
-}
-void DecisionMakerNode::StoplinePlanOut(int status)
-{
-  current_shifted_lane_array_ = current_based_lane_array_;
-  changeVelocityBasedLane();
-  publishControlledLaneArray();
-}
-
-void DecisionMakerNode::changeVelocityLane(int dir)
-{
-  if (dir != 0)
-  {
-    for (auto& lane : current_controlled_lane_array_.lanes)
-    {
-      autoware_msgs::Lane temp_lane = lane;
-      for (size_t wpi = 1; wpi < lane.waypoints.size(); wpi++)
-      {
-        amathutils::point p0(temp_lane.waypoints.at(wpi).pose.pose.position.x,
-                             temp_lane.waypoints.at(wpi).pose.pose.position.y,
-                             temp_lane.waypoints.at(wpi).pose.pose.position.z);
-        amathutils::point p1(temp_lane.waypoints.at(wpi - 1).pose.pose.position.x,
-                             temp_lane.waypoints.at(wpi - 1).pose.pose.position.y,
-                             temp_lane.waypoints.at(wpi - 1).pose.pose.position.z);
-
-        double distance = amathutils::find_distance(&p0, &p1);
-        double _rate = 0.2;                       // accelerated/decelerated rate
-        double _weight = distance * _rate * dir;  //
-        lane.waypoints.at(wpi).twist.twist.linear.x =
-            lane.waypoints.at(wpi).twist.twist.linear.x + (lane.waypoints.at(wpi).twist.twist.linear.x * _weight);
-      }
-    }
-  }
-  else
-  {
-    for (auto& lane : current_controlled_lane_array_.lanes)
-    {
-      for (auto& wp : lane.waypoints)
-      {
-        wp.twist.twist.linear.x = amathutils::kmph2mps(param_crawl_velocity_);
-      }
-    }
-  }
-}
-
-void DecisionMakerNode::callbackInStateKeep(int status)
-{
-  changeVelocityBasedLane();
-  publishControlledLaneArray();
-}
-
-void DecisionMakerNode::callbackInStateAcc(int status)
-{
-  changeVelocityLane(status);
-  publishControlledLaneArray();
-}
-
-// for stopping state(stopline/stop)
-void DecisionMakerNode::updateStateStop(int status)
-{
-  static bool timerflag;
-  static ros::Timer stopping_timer;
-
-  if (status)
-  {
-    if (current_velocity_ == 0.0 && !foundOtherVehicleForIntersectionStop_ && !timerflag)
-    {
-      stopping_timer = nh_.createTimer(ros::Duration(1),
-                                       [&](const ros::TimerEvent&) {
-                                         ctx->setCurrentState(state_machine::DRIVE_ACC_KEEP_STATE);
-                                         ROS_INFO("Change state to [KEEP] from [STOP]\n");
-                                         timerflag = false;
-                                       },
-                                       this, true);
-      timerflag = true;
-    }
-    else
-    {
-      if (foundOtherVehicleForIntersectionStop_ && timerflag)
-      {
-        stopping_timer.stop();
-        timerflag = false;
-      }
-      publishStoplineWaypointIdx(closest_stopline_waypoint_);
-    }
-  }
-}
-void DecisionMakerNode::callbackInStateStop(int status)
-{
-  if (!status) /*not a stopline*/
-  {
-    publishStoppedLaneArray();
-  }
-  else /* handling stopline */
-  {
-    publishStoplineWaypointIdx(closest_stopline_waypoint_);
-  }
-}
-void DecisionMakerNode::callbackOutStateStop(int status)
-{
-  if (status)
-  {
-    closest_stopline_waypoint_ = -1;
-    publishStoplineWaypointIdx(closest_stopline_waypoint_);
-  }
-}
-
-void DecisionMakerNode::updateStateObstacleAvoid(int status)
-{
-}
-
-void DecisionMakerNode::callbackOutStateObstacleAvoid(int status)
-{
-  changeShiftLane();
-  changeVelocityBasedLane();
-  publishControlledLaneArray();
-  ros::Rate loop_rate(1);
-
-  // wait for the start of lane change to the original lane
-  if (created_shift_lane_flag_)
-  {
-    do
-    {
-      ros::spinOnce();
-      loop_rate.sleep();
-    } while (!ctx->isCurrentState(state_machine::DRIVE_BEHAVIOR_LANECHANGE_LEFT_STATE) &&
-             !ctx->isCurrentState(state_machine::DRIVE_BEHAVIOR_LANECHANGE_RIGHT_STATE) && ros::ok());
-    // wait for the end of lane change
-    do
-    {
-      ros::spinOnce();
-      loop_rate.sleep();
-    } while ((ctx->isCurrentState(state_machine::DRIVE_BEHAVIOR_LANECHANGE_LEFT_STATE) ||
-              ctx->isCurrentState(state_machine::DRIVE_BEHAVIOR_LANECHANGE_RIGHT_STATE) ||
-              ctx->isCurrentState(state_machine::DRIVE_BEHAVIOR_OBSTACLE_AVOIDANCE_STATE)) &&
-             ros::ok());
-    removeShiftLane();
-    created_shift_lane_flag_ = false;
-  }
-  changeVelocityBasedLane();  // rebased controlled lane
-  publishControlledLaneArray();
-  return;
-}
-
-void DecisionMakerNode::callbackInStateObstacleAvoid(int status)
-{
-  // this state is temporary implementation.
-  // It means this state is desirable to use a way which enables the avoidance
-  // plannner such as astar, state lattice.
-
-  // if car shoud stop before avoidance,
-  if (!created_shift_lane_flag_)
-  {
-    created_shift_lane_flag_ = true;
-    ctx->setCurrentState(state_machine::DRIVE_ACC_STOPLINE_STATE);
-    createShiftLane();
-  }
-
-  changeVelocityBasedLane();
-}
-void DecisionMakerNode::updateStateSTR(int status)
-{
-  autoware_msgs::LampCmd lamp_msg;
-
-  switch (status)
-  {
-    case LAMP_LEFT:
-      lamp_msg.l = LAMP_ON;
-      lamp_msg.r = LAMP_OFF;
-      break;
-    case LAMP_RIGHT:
-      lamp_msg.l = LAMP_OFF;
-      lamp_msg.r = LAMP_ON;
-      break;
-    case LAMP_HAZARD:
-      lamp_msg.l = LAMP_ON;
-      lamp_msg.r = LAMP_ON;
-      break;
-    case LAMP_EMPTY:
-    default:
-      lamp_msg.l = LAMP_OFF;
-      lamp_msg.r = LAMP_OFF;
-      break;
-  }
-  Pubs["lamp_cmd"].publish(lamp_msg);
-}
-}
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/planner_selector/planner_selector_node.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/planner_selector/planner_selector_node.cpp
deleted file mode 100644
index aa42bed4455..00000000000
--- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/planner_selector/planner_selector_node.cpp
+++ /dev/null
@@ -1,234 +0,0 @@
-#include <autoware_config_msgs/ConfigPlannerSelector.h>
-#include <autoware_msgs/Lane.h>
-#include <ros/ros.h>
-#include <std_msgs/Int32.h>
-
-#include <mutex>
-#include <thread>
-#include <unordered_map>
-
-#include <amathutils_lib/amathutils.hpp>
-#include <planner_selector.hpp>
-
-namespace decision_maker
-{
-void PlannerSelector::initROS()
-{
-  Subs["/dp/final_waypoints"] = nh_.subscribe("/dp/final_waypoints", 1, &PlannerSelector::callbackFromWaypoints, this);
-  Subs["/astar/final_waypoints"] =
-      nh_.subscribe("/astar/final_waypoints", 1, &PlannerSelector::callbackFromWaypoints, this);
-  Subs["/enableLattice"] = nh_.subscribe("/enableLattice", 10, &PlannerSelector::callbackFromLattice, this);
-
-  Subs["/dp/closest_waypoint"] = nh_.subscribe("/dp/closest_waypoint", 1, &PlannerSelector::callbackFromClosest, this);
-  Subs["/astar/closest_waypoint"] =
-      nh_.subscribe("/astar/closest_waypoint", 1, &PlannerSelector::callbackFromClosest, this);
-
-  Subs["/config/planner_selector"] =
-      nh_.subscribe("/config/PlannerSelector", 1, &PlannerSelector::callbackFromConfig, this);
-
-  Subs["current_velocity"] = nh_.subscribe("current_velocity", 3, &PlannerSelector::callbackFromCurrentVelocity, this);
-
-  Pubs["final_waypoints"] = nh_.advertise<autoware_msgs::Lane>("/final_waypoints", 1);
-  Pubs["closest_waypoint"] = nh_.advertise<std_msgs::Int32>("/closest_waypoint", 1);
-}
-
-inline bool PlannerSelector::existWaypoints(const int _config_waypoints_num)
-{
-  bool ret;
-  ret = (_config_waypoints_num < final_waypoints_dp_.waypoints.size()) &&
-        (_config_waypoints_num < final_waypoints_dp_.waypoints.size());
-  return ret;
-}
-
-void PlannerSelector::callbackFromLattice(const std_msgs::Int32 &msg)
-{
-  // static int prev[LATENCY_NUM] = { 1 };
-  static int counter = 0;
-  double _distance = 100.0;
-
-  try
-  {
-    autoware_msgs::Waypoint dp_point = final_waypoints_dp_.waypoints.at(config_waypoints_num_);
-    autoware_msgs::Waypoint astar_point = final_waypoints_astar_.waypoints.at(config_waypoints_num_);
-
-    amathutils::point p_dp, p_astar;
-    p_dp.x = dp_point.pose.pose.position.x;
-    p_dp.x = dp_point.pose.pose.position.y;
-    p_dp.z = 0.0;
-
-    p_astar.x = astar_point.pose.pose.position.x;
-    p_astar.x = astar_point.pose.pose.position.y;
-    p_astar.z = 0.0;
-
-    _distance = amathutils::find_distance(&p_dp, &p_astar);
-    //  ROS_INFO("distance=%f. %d:%d", _distance, dp_point.dtlane.dist,astar_point.dtlane.dist);
-  }
-  catch (const std::out_of_range &ex)
-  {
-    ROS_ERROR("Out of Range:%s", ex.what());
-  }
-
-#if 0  // delay switch
-  _mutex.lock();
-  if(enableLattice_){
-	  if (msg.data == 0){
-		  if(counter++ >= config_latency_num_){
-			  enableLattice_ = 0;
-			  counter = 0;
-		  }
-	  }
-  }else{
-	  enableLattice_ = msg.data;
-  }
-  ROS_INFO("msg.data=%d, enableLattice_ = %d", msg.data, enableLattice_);
-  _mutex.unlock();
-#else
-  _mutex.lock();
-  if (msg.data != enableLattice_)
-  {
-    if (enableLattice_ == 1 && msg.data == 0)
-    {
-      if (pastWaypoint == false)
-      {
-        pastWaypoint = true;
-        counter = 0;
-        way_offset = config_waypoints_num_;
-      }
-    }
-    enableLattice_ = msg.data;
-  }
-  if (counter++ >= config_latency_num_)
-  {
-    counter = 0;
-    if (way_offset > 0)
-    {
-      way_offset--;
-    }
-    else
-    {
-      pastWaypoint = false;
-    }
-  }
-
-  // ROS_INFO("msg.data=%d, enableLattice_ = %d", msg.data, enableLattice_);
-  _mutex.unlock();
-#endif
-  // for debug
-  //	ROS_INFO("\n***** EnableLattice = %d  **** \n",enableLattice_,msg.data);
-}
-
-void PlannerSelector::callbackFromWaypoints(const ros::MessageEvent<autoware_msgs::Lane const> &event)
-{
-  const ros::M_string &header = event.getConnectionHeader();
-  std::string topic = header.at("topic");
-  const autoware_msgs::Lane *waypoints = event.getMessage().get();
-
-  _mutex.lock();
-
-  if (this->enableLattice_ && topic.find("dp") != std::string::npos)
-  {
-    Pubs["final_waypoints"].publish(*waypoints);
-    final_waypoints_dp_ = *waypoints;
-  }
-  else if (!this->enableLattice_ && topic.find("astar") != std::string::npos)
-  {
-    if (pastWaypoint)
-    {
-      for (int i = 0; i < config_waypoints_num_; i++)
-      {
-        if (!final_waypoints_astar_.waypoints.empty())
-          final_waypoints_astar_.waypoints.erase(final_waypoints_astar_.waypoints.begin());
-        else
-        {
-          pastWaypoint = false;
-          way_offset = 0;
-        }
-      }
-#if 0
-	    if(final_waypoints_astar_.waypoints.empty()){
-		    int _size = final_waypoints_astar_.waypoints.size();
-		    _size = _size>=5?5:_size;
-		    auto itr = final_waypoints_astar_.waypoints.begin();
-		    for(int i=0; i < 5;  i++){
-			    itr->twist.twist.linear.x =  (current_velocity_*2 + itr->twist.twist.linear.x) / 3;
-			    std::cout << "set linear velocity:" <<  mps2kmph(itr->twist.twist.linear.x)  << std::endl; 
-			    itr++;
-		    }
-	    }
-#endif
-      Pubs["final_waypoints"].publish(final_waypoints_astar_);
-    }
-    else
-    {
-      Pubs["final_waypoints"].publish(*waypoints);
-    }
-    final_waypoints_astar_ = *waypoints;
-  }
-
-  // for debug
-  // ROS_INFO("%s, %d-%d-%d", topic.c_str(), closest_waypoint_dp_, closest_waypoint_astar_, this->enableLattice_);
-  _mutex.unlock();
-}
-
-void PlannerSelector::callbackFromCurrentVelocity(const geometry_msgs::TwistStamped &msg)
-{
-  current_velocity_ = msg.twist.linear.x;
-}
-
-void PlannerSelector::callbackFromConfig(const autoware_config_msgs::ConfigPlannerSelector &msg)
-{
-  config_latency_num_ = msg.latency_num;
-  config_waypoints_num_ = msg.waypoints_num;
-  config_convergence_num_ = msg.convergence_num;
-
-  ROS_INFO("PARAM_SET-latency:%d, waypoints:%d, convergence:%f", config_latency_num_, config_waypoints_num_,
-           config_convergence_num_);
-}
-
-void PlannerSelector::callbackFromClosest(const ros::MessageEvent<std_msgs::Int32> &event)
-{
-  const ros::M_string &header = event.getConnectionHeader();
-  std::string topic = header.at("topic");
-
-  int temp = event.getMessage().get()->data;
-  std_msgs::Int32 msg;
-
-#if 1
-  if (topic.find("/dp") == 0)
-  {
-    closest_waypoints_["dp"] = temp;
-
-    if (closest_waypoints_["astar"])
-    {
-      msg.data = closest_waypoint_astar_;
-    }
-    closest_waypoint_dp_ = temp;
-  }
-  else if (topic.find("/astar") == 0)
-  {
-    closest_waypoints_["astar"] = temp;
-    closest_waypoint_astar_ = temp;
-  }
-
-  //  ROS_INFO("PastWaypoint:%s-offset:%d, latency:%d, closest:%d", pastWaypoint?"true":"false", way_offset,
-  //  config_latency_num_,closest_waypoint_astar);
-  if (pastWaypoint && final_waypoints_astar_.waypoints.size() > closest_waypoint_astar_ + way_offset)
-  {
-    msg.data = closest_waypoint_astar_ + way_offset;
-  }
-  else
-  {
-    msg.data = closest_waypoint_astar_;
-  }
-#endif
-  Pubs["closest_waypoint"].publish(msg);
-}
-}
-
-int main(int argc, char **argv)
-{
-  ros::init(argc, argv, "planner_selector");
-
-  decision_maker::PlannerSelector _psn;
-  ros::spin();
-}
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/package.xml b/ros/src/computing/planning/decision/packages/decision_maker/package.xml
index 110d6fa5c56..d89b6539380 100644
--- a/ros/src/computing/planning/decision/packages/decision_maker/package.xml
+++ b/ros/src/computing/planning/decision/packages/decision_maker/package.xml
@@ -3,8 +3,9 @@
     <name>decision_maker</name>
     <version>1.10.0</version>
     <description>The decision maker package for autoware</description>
-    <maintainer email="yusuke.fujii@tier4.jp">Yusuke Fujii</maintainer>
+    <maintainer email="azumi.suzuki@tier4.jp">Yusuke Fujii</maintainer>
     <author email="yusuke.fujii@tier4.jp">Yusuke Fujii</author>
+    <author email="azumi.suzuki@tier4.jp">Yusuke Fujii</author>
 
     <license>Apache 2</license>
     <buildtool_depend>catkin</buildtool_depend>
@@ -21,6 +22,8 @@
     <build_depend>dynamic_reconfigure</build_depend>
     <build_depend>amathutils_lib</build_depend>
     <build_depend>state_machine_lib</build_depend>
+    <build_depend>rostest</build_depend>
+    <build_depend>rosunit</build_depend>
 
     <run_depend>roscpp</run_depend>
     <run_depend>std_msgs</run_depend>
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_class.hpp b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_class.hpp
new file mode 100644
index 00000000000..1059409522d
--- /dev/null
+++ b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_class.hpp
@@ -0,0 +1,91 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "decision_maker_node.hpp"
+
+namespace decision_maker {
+
+class TestClass {
+public:
+	TestClass(){}
+
+	DecisionMakerNode *dmn;
+
+	void createFinalWaypoints() {
+		autoware_msgs::Lane final_lane;
+		for (int idx = 0; idx < 100; idx++) {
+			static autoware_msgs::Waypoint wp;
+			wp.gid = idx;
+			wp.lid = idx;
+			wp.pose.pose.position.x = 0.0 + (double)idx;
+			wp.pose.pose.position.y = 0.0;
+			wp.pose.pose.position.z = 0.0;
+			wp.twist.twist.linear.x = 5.0;
+			wp.twist.twist.angular.z = 0.0;
+
+			wp.wpstate.steering_state = autoware_msgs::WaypointState::STR_STRAIGHT;
+			wp.wpstate.stop_state = autoware_msgs::WaypointState::NULLSTATE;
+			wp.wpstate.event_state = autoware_msgs::WaypointState::TYPE_EVENT_NULL;
+
+			final_lane.waypoints.push_back(wp);
+		}
+
+		dmn->current_status_.finalwaypoints = final_lane;
+	}
+
+	void setSteeringState(int index, uint8_t state) {
+		dmn->current_status_.finalwaypoints.waypoints.at(index)
+	        		.wpstate.steering_state = state;
+	}
+
+	void setEventState(int index, uint8_t state) {
+		dmn->current_status_.finalwaypoints.waypoints.at(index)
+	        		.wpstate.event_state = state;
+	}
+
+	void setStopState(int index, uint8_t state) {
+		dmn->current_status_.finalwaypoints.waypoints.at(index).wpstate.stop_state =
+				state;
+	}
+
+	void setCurrentPose(double x, double y, double yaw) {
+		geometry_msgs::Pose current_pose;
+		current_pose.position.x = x;
+		current_pose.position.y = y;
+		tf::Quaternion quaternion = tf::createQuaternionFromRPY(0, 0, yaw);
+		quaternionTFToMsg(quaternion, current_pose.orientation);
+
+		dmn->current_status_.pose = current_pose;
+	}
+
+	void setCurrentVelocity(double vel) { dmn->current_status_.velocity = vel; }
+
+	bool isLocalizationConvergence(geometry_msgs::Point _current_point) { return dmn->isLocalizationConvergence(_current_point); }
+
+	bool isArrivedGoal() { return dmn->isArrivedGoal(); }
+
+	uint8_t getSteeringStateFromWaypoint() {
+		return dmn->getSteeringStateFromWaypoint();
+	}
+	uint8_t getEventStateFromWaypoint() {
+		return dmn->getEventStateFromWaypoint();
+	}
+	std::pair<uint8_t, int> getStopSignStateFromWaypoint() {
+		return dmn->getStopSignStateFromWaypoint();
+	}
+};
+
+}
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_main.cpp b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_main.cpp
new file mode 100644
index 00000000000..0b712f60400
--- /dev/null
+++ b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_main.cpp
@@ -0,0 +1,30 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <gtest/gtest.h>
+#include <ros/ros.h>
+
+class TestSuite : public ::testing::Test {
+public:
+  TestSuite() {}
+  ~TestSuite() {}
+};
+
+int main(int argc, char **argv) {
+  testing::InitGoogleTest(&argc, argv);
+  ros::init(argc, argv, "DecisionMakerTestNode");
+  return RUN_ALL_TESTS();
+}
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_decision.cpp b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_decision.cpp
new file mode 100644
index 00000000000..c432a849b9a
--- /dev/null
+++ b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_decision.cpp
@@ -0,0 +1,93 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <gtest/gtest.h>
+#include <ros/ros.h>
+
+#include "amathutils_lib/amathutils.hpp"
+#include "decision_maker_node.hpp"
+
+#include "test_class.hpp"
+
+namespace decision_maker {
+
+class TestSuite : public ::testing::Test {
+public:
+  TestSuite() {}
+  ~TestSuite() {}
+
+  TestClass test_obj_;
+
+protected:
+  virtual void SetUp() {
+    int argc;
+    char **argv;
+    test_obj_.dmn = new DecisionMakerNode(argc, argv);
+  };
+  virtual void TearDown() { delete test_obj_.dmn; };
+};
+
+TEST_F(TestSuite, isLocalizationConvergence) {
+  geometry_msgs::Point pointA, pointB;
+  pointA.x = 10.0;
+  pointA.y = 10.0;
+  pointA.z = 0.0;
+  pointB.x = 10.0;
+  pointB.y = 12.0;
+  pointB.z = 0.0;
+
+  for (int i=0; i<10; i++)
+  {
+    ASSERT_FALSE(test_obj_.isLocalizationConvergence(pointA)) << "It should be false";
+  }
+  ASSERT_TRUE(test_obj_.isLocalizationConvergence(pointA)) << "It should be true";
+
+  for (int i=0; i<5; i++)
+  {
+    ASSERT_TRUE(test_obj_.isLocalizationConvergence(pointA)) << "It should be true";
+    ASSERT_TRUE(test_obj_.isLocalizationConvergence(pointB)) << "It should be true";
+  }
+  ASSERT_TRUE(test_obj_.isLocalizationConvergence(pointA)) << "It should be true";
+
+  pointB.y = 12.1;
+  ASSERT_FALSE(test_obj_.isLocalizationConvergence(pointB)) << "It should be true";
+}
+
+TEST_F(TestSuite, isArrivedGoal) {
+	test_obj_.createFinalWaypoints();
+
+	test_obj_.setCurrentPose(100, 0, 0);
+	test_obj_.setCurrentVelocity(0.0);
+  ASSERT_TRUE(test_obj_.isArrivedGoal()) << "Current pose is outside the target range."
+                               << "It should be true";
+
+  test_obj_.setCurrentPose(100, 0, 0);
+  test_obj_.setCurrentVelocity(3.0);
+  ASSERT_FALSE(test_obj_.isArrivedGoal()) << "Current pose is inside the target range."
+                                << "It should be false";
+
+  test_obj_.setCurrentPose(90, 0, 0);
+  test_obj_.setCurrentVelocity(0.0);
+  ASSERT_FALSE(test_obj_.isArrivedGoal()) << "Current pose is inside the target range."
+                                << "It should be false";
+
+  test_obj_.setCurrentPose(90, 0, 0);
+  test_obj_.setCurrentVelocity(3.0);
+  ASSERT_FALSE(test_obj_.isArrivedGoal()) << "Current pose is inside the target range."
+                                << "It should be false";
+}
+
+} // namespace decision_maker
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_state_drive.cpp b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_state_drive.cpp
new file mode 100644
index 00000000000..82c6f962b51
--- /dev/null
+++ b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_state_drive.cpp
@@ -0,0 +1,134 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <gtest/gtest.h>
+#include <ros/ros.h>
+
+#include "amathutils_lib/amathutils.hpp"
+#include "decision_maker_node.hpp"
+
+#include "test_class.hpp"
+
+namespace decision_maker {
+
+class TestSuite : public ::testing::Test {
+public:
+  TestSuite() {}
+  ~TestSuite() {}
+
+  TestClass test_obj_;
+
+protected:
+  virtual void SetUp() {
+    int argc;
+    char **argv;
+    test_obj_.dmn = new DecisionMakerNode(argc, argv);
+  };
+  virtual void TearDown() { delete test_obj_.dmn; };
+};
+
+TEST_F(TestSuite, getSteeringStateFromWaypoint) {
+	test_obj_.createFinalWaypoints();
+  ASSERT_EQ(test_obj_.getSteeringStateFromWaypoint(),
+            autoware_msgs::WaypointState::STR_STRAIGHT)
+      << "Could not get the expected state"
+      << "It should be " << autoware_msgs::WaypointState::STR_STRAIGHT;
+
+  test_obj_.setSteeringState(20, autoware_msgs::WaypointState::STR_LEFT);
+  ASSERT_EQ(test_obj_.getSteeringStateFromWaypoint(),
+            autoware_msgs::WaypointState::STR_LEFT)
+      << "Could not get the expected state"
+      << "It should be " << autoware_msgs::WaypointState::STR_LEFT;
+
+  test_obj_.setSteeringState(20, autoware_msgs::WaypointState::STR_RIGHT);
+  ASSERT_EQ(test_obj_.getSteeringStateFromWaypoint(),
+            autoware_msgs::WaypointState::STR_RIGHT)
+      << "Could not get the expected state"
+      << "It should be " << autoware_msgs::WaypointState::STR_RIGHT;
+}
+
+TEST_F(TestSuite, getEventStateFromWaypoint) {
+	test_obj_.setCurrentPose(0, 0, 0);
+
+	test_obj_.createFinalWaypoints();
+  ASSERT_EQ(test_obj_.getEventStateFromWaypoint(),
+            autoware_msgs::WaypointState::TYPE_EVENT_NULL)
+      << "Could not get the expected state"
+      << "It should be " << autoware_msgs::WaypointState::TYPE_EVENT_NULL;
+
+  test_obj_.setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_GOAL);
+  ASSERT_EQ(test_obj_.getEventStateFromWaypoint(),
+            autoware_msgs::WaypointState::TYPE_EVENT_GOAL)
+      << "Could not get the expected state"
+      << "It should be " << autoware_msgs::WaypointState::TYPE_EVENT_GOAL;
+
+  test_obj_.setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_MIDDLE_GOAL);
+  ASSERT_EQ(test_obj_.getEventStateFromWaypoint(),
+            autoware_msgs::WaypointState::TYPE_EVENT_MIDDLE_GOAL)
+      << "Could not get the expected state"
+      << "It should be "
+      << autoware_msgs::WaypointState::TYPE_EVENT_MIDDLE_GOAL;
+
+  test_obj_.setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_POSITION_STOP);
+  ASSERT_EQ(test_obj_.getEventStateFromWaypoint(),
+            autoware_msgs::WaypointState::TYPE_EVENT_POSITION_STOP)
+      << "Could not get the expected state"
+      << "It should be "
+      << autoware_msgs::WaypointState::TYPE_EVENT_POSITION_STOP;
+
+  test_obj_.setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_BUS_STOP);
+  ASSERT_EQ(test_obj_.getEventStateFromWaypoint(),
+            autoware_msgs::WaypointState::TYPE_EVENT_BUS_STOP)
+      << "Could not get the expected state"
+      << "It should be " << autoware_msgs::WaypointState::TYPE_EVENT_BUS_STOP;
+
+  test_obj_.setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_PARKING);
+  ASSERT_EQ(test_obj_.getEventStateFromWaypoint(),
+            autoware_msgs::WaypointState::TYPE_EVENT_PARKING)
+      << "Could not get the expected state"
+      << "It should be " << autoware_msgs::WaypointState::TYPE_EVENT_PARKING;
+}
+
+TEST_F(TestSuite, getStopSignStateFromWaypoint) {
+	test_obj_.setCurrentPose(0, 0, 0);
+	test_obj_.setCurrentVelocity(10.0);
+
+	test_obj_.createFinalWaypoints();
+  std::pair<uint8_t, int> ret1 = test_obj_.getStopSignStateFromWaypoint();
+  ASSERT_EQ(ret1.first, autoware_msgs::WaypointState::NULLSTATE)
+      << "Could not get the expected state"
+      << "It should be " << autoware_msgs::WaypointState::NULLSTATE;
+  ASSERT_EQ(ret1.second, -1) << "Could not get the expected state"
+                             << "It should be " << -1;
+
+  test_obj_.setStopState(20, autoware_msgs::WaypointState::TYPE_STOPLINE);
+  std::pair<uint8_t, int> ret2 = test_obj_.getStopSignStateFromWaypoint();
+  ASSERT_EQ(ret2.first, autoware_msgs::WaypointState::TYPE_STOPLINE)
+      << "Could not get the expected state"
+      << "It should be " << autoware_msgs::WaypointState::TYPE_STOPLINE;
+  ASSERT_EQ(ret2.second, 20) << "Could not get the expected state"
+                             << "It should be " << 20;
+
+  test_obj_.setStopState(20, autoware_msgs::WaypointState::TYPE_STOP);
+  std::pair<uint8_t, int> ret3 = test_obj_.getStopSignStateFromWaypoint();
+  ASSERT_EQ(ret3.first, autoware_msgs::WaypointState::TYPE_STOP)
+      << "Could not get the expected state"
+      << "It should be " << autoware_msgs::WaypointState::TYPE_STOP;
+  ASSERT_EQ(ret3.second, 20) << "Could not get the expected state"
+                             << "It should be " << 20;
+}
+
+} // namespace decision_maker
diff --git a/ros/src/computing/planning/decision/packages/decision_maker/test/test_decision_maker.test b/ros/src/computing/planning/decision/packages/decision_maker/test/test_decision_maker.test
new file mode 100644
index 00000000000..8cfbde5ab07
--- /dev/null
+++ b/ros/src/computing/planning/decision/packages/decision_maker/test/test_decision_maker.test
@@ -0,0 +1,35 @@
+
+<launch>
+  <arg name="state_mission_file_name" default="autoware_state_mission.yaml" />
+  <arg name="state_drive_file_name" default="autoware_state_drive.yaml" />
+  <arg name="state_vehicle_file_name" default="autoware_state_vehicle.yaml" />
+  <arg name="auto_mission_reload" default="false" />
+  <arg name="auto_engage" default="false" />
+  <arg name="auto_mission_change" default="false" />
+  <arg name="use_fms" default="false" />
+  <arg name="disuse_vector_map" default="false" />
+  <arg name="param_num_of_steer_behind" default="30" />
+  <arg name="change_threshold_dist" default="1.0" />
+  <arg name="change_threshold_angle" default="15" />
+  <arg name="goal_threshold_dist" default="3.0" />
+  <arg name="goal_threshold_vel" default="0.1" />
+  <arg name="stopline_reset_count" default="20" />
+
+  <test test-name="test-decision_maker" pkg="decision_maker" type="test-decision_maker" name="test">
+    <param name ="state_mission_file_name" value="$(find decision_maker)/$(arg state_mission_file_name)"/>
+    <param name ="state_drive_file_name" value="$(find decision_maker)/$(arg state_drive_file_name)"/>
+    <param name ="state_vehicle_file_name" value="$(find decision_maker)/$(arg state_vehicle_file_name)"/>
+    <param name="auto_mission_reload" value="$(arg auto_mission_reload)"/>
+    <param name="auto_engage" value="$(arg auto_engage)"/>
+    <param name="auto_mission_change" value="$(arg auto_mission_change)"/>
+    <param name="use_fms" value="$(arg use_fms)"/>
+    <param name="disuse_vector_map" value="$(arg disuse_vector_map)"/>
+    <param name="param_num_of_steer_behind" value="$(arg param_num_of_steer_behind)"/>
+    <param name="change_threshold_dist" value="$(arg change_threshold_dist)"/>
+    <param name="change_threshold_angle" value="$(arg change_threshold_angle)"/>
+    <param name="goal_threshold_dist" value="$(arg goal_threshold_dist)"/>
+    <param name="goal_threshold_vel" value="$(arg goal_threshold_vel)"/>
+    <param name ="stopline_reset_count" value="$(arg stopline_reset_count)"/>
+  </test>
+
+</launch>
diff --git a/ros/src/computing/planning/mission/packages/lane_planner/CMakeLists.txt b/ros/src/computing/planning/mission/packages/lane_planner/CMakeLists.txt
index 914814689c0..86e795e6954 100644
--- a/ros/src/computing/planning/mission/packages/lane_planner/CMakeLists.txt
+++ b/ros/src/computing/planning/mission/packages/lane_planner/CMakeLists.txt
@@ -14,6 +14,8 @@ find_package(catkin REQUIRED COMPONENTS
         waypoint_follower
         gnss
         autoware_msgs
+        rostest
+        rosunit
         )
 
 set(CMAKE_CXX_FLAGS "-O2 -Wall ${CMAKE_CXX_FLAGS}")
@@ -105,3 +107,16 @@ install(TARGETS
 install(DIRECTORY launch/
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
         PATTERN ".svn" EXCLUDE)
+
+if (CATKIN_ENABLE_TESTING)
+    find_package(rostest REQUIRED)
+    add_rostest_gtest(test-lane_select
+      test/test_lane_select.test
+      test/src/test_lane_select.cpp
+      nodes/lane_select/lane_select_core.cpp
+      nodes/lane_select/hermite_curve.cpp
+    )
+    add_dependencies(test-lane_select ${catkin_EXPORTED_TARGETS})
+    target_link_libraries(test-lane_select
+    ${catkin_LIBRARIES})
+endif ()
diff --git a/ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_select/hermite_curve.h b/ros/src/computing/planning/mission/packages/lane_planner/include/hermite_curve.h
similarity index 100%
rename from ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_select/hermite_curve.h
rename to ros/src/computing/planning/mission/packages/lane_planner/include/hermite_curve.h
diff --git a/ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_select/lane_select_core.h b/ros/src/computing/planning/mission/packages/lane_planner/include/lane_select_core.h
similarity index 78%
rename from ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_select/lane_select_core.h
rename to ros/src/computing/planning/mission/packages/lane_planner/include/lane_select_core.h
index 76e0031b544..b155388ad38 100644
--- a/ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_select/lane_select_core.h
+++ b/ros/src/computing/planning/mission/packages/lane_planner/include/lane_select_core.h
@@ -33,6 +33,7 @@
 #include "autoware_config_msgs/ConfigLaneSelect.h"
 #include "autoware_msgs/LaneArray.h"
 #include "autoware_msgs/State.h"
+#include "autoware_msgs/VehicleLocation.h"
 #include "hermite_curve.h"
 #include "waypoint_follower/libwaypoint_follower.h"
 
@@ -55,6 +56,8 @@ typename std::underlying_type<T>::type enumToInteger(T t)
 
 class LaneSelectNode
 {
+friend class LaneSelectTestClass;
+
 public:
   LaneSelectNode();
   ~LaneSelectNode();
@@ -67,13 +70,14 @@ class LaneSelectNode
   ros::NodeHandle private_nh_;
 
   // publisher
-  ros::Publisher pub1_, pub2_, pub3_, pub4_;
+  ros::Publisher pub1_, pub2_, pub3_, pub4_, pub5_;
   ros::Publisher vis_pub1_;
 
   // subscriber
   ros::Subscriber sub1_, sub2_, sub3_, sub4_, sub5_, sub6_;
 
   // variables
+  int32_t lane_array_id_;
   int32_t current_lane_idx_;  // the index of the lane we are driving
   int32_t right_lane_idx_;
   int32_t left_lane_idx_;
@@ -93,12 +97,12 @@ class LaneSelectNode
   std::string current_state_;
 
   // callbacks
-  void callbackFromLaneArray(const autoware_msgs::LaneArrayConstPtr &msg);
-  void callbackFromPoseStamped(const geometry_msgs::PoseStampedConstPtr &msg);
-  void callbackFromTwistStamped(const geometry_msgs::TwistStampedConstPtr &msg);
-  void callbackFromState(const std_msgs::StringConstPtr &msg);
-  void callbackFromStates(const autoware_msgs::StateConstPtr &msg);
-  void callbackFromConfig(const autoware_config_msgs::ConfigLaneSelectConstPtr &msg);
+  void callbackFromLaneArray(const autoware_msgs::LaneArrayConstPtr& msg);
+  void callbackFromPoseStamped(const geometry_msgs::PoseStampedConstPtr& msg);
+  void callbackFromTwistStamped(const geometry_msgs::TwistStampedConstPtr& msg);
+  void callbackFromState(const std_msgs::StringConstPtr& msg);
+  void callbackFromDecisionMakerState(const std_msgs::StringConstPtr& msg);
+  void callbackFromConfig(const autoware_config_msgs::ConfigLaneSelectConstPtr& msg);
 
   // initializer
   void initForROS();
@@ -117,10 +121,11 @@ class LaneSelectNode
   void resetSubscriptionFlag();
   bool isAllTopicsSubscribed();
   void processing();
-  void publishLane(const autoware_msgs::Lane &lane);
-  void publishLaneID(const autoware_msgs::Lane &lane);
+  void publishLane(const autoware_msgs::Lane& lane);
+  void publishLaneID(const autoware_msgs::Lane& lane);
   void publishClosestWaypoint(const int32_t clst_wp);
   void publishChangeFlag(const ChangeFlag flag);
+  void publishVehicleLocation(const int32_t clst_wp, const int32_t larray_id);
   bool getClosestWaypointNumberForEachLanes();
   int32_t findMostClosestLane(const std::vector<uint32_t> idx_vec, const geometry_msgs::Point p);
   void findCurrentLane();
@@ -128,22 +133,28 @@ class LaneSelectNode
   void changeLane();
   void updateChangeFlag();
   void createLaneForChange();
-  int32_t getClosestLaneChangeWaypointNumber(const std::vector<autoware_msgs::Waypoint> &wps, int32_t cl_wp);
+  int32_t getClosestLaneChangeWaypointNumber(const std::vector<autoware_msgs::Waypoint>& wps, int32_t cl_wp);
+
+  // spinOnce for test
+  void spinOnce()
+  {
+    ros::spinOnce();
+  }
 };
 
-int32_t getClosestWaypointNumber(const autoware_msgs::Lane &current_lane, const geometry_msgs::Pose &current_pose,
-                                 const geometry_msgs::Twist &current_velocity, const int32_t previous_number,
+int32_t getClosestWaypointNumber(const autoware_msgs::Lane& current_lane, const geometry_msgs::Pose& current_pose,
+                                 const geometry_msgs::Twist& current_velocity, const int32_t previous_number,
                                  const double distance_threshold);
 
-double getTwoDimensionalDistance(const geometry_msgs::Point &target1, const geometry_msgs::Point &target2);
+double getTwoDimensionalDistance(const geometry_msgs::Point& target1, const geometry_msgs::Point& target2);
 
-geometry_msgs::Point convertPointIntoRelativeCoordinate(const geometry_msgs::Point &input_point,
-                                                        const geometry_msgs::Pose &pose);
+geometry_msgs::Point convertPointIntoRelativeCoordinate(const geometry_msgs::Point& input_point,
+                                                        const geometry_msgs::Pose& pose);
 
-geometry_msgs::Point convertPointIntoWorldCoordinate(const geometry_msgs::Point &input_point,
-                                                     const geometry_msgs::Pose &pose);
-double getRelativeAngle(const geometry_msgs::Pose &waypoint_pose, const geometry_msgs::Pose &current_pose);
-bool getLinearEquation(geometry_msgs::Point start, geometry_msgs::Point end, double *a, double *b, double *c);
+geometry_msgs::Point convertPointIntoWorldCoordinate(const geometry_msgs::Point& input_point,
+                                                     const geometry_msgs::Pose& pose);
+double getRelativeAngle(const geometry_msgs::Pose& waypoint_pose, const geometry_msgs::Pose& current_pose);
+bool getLinearEquation(geometry_msgs::Point start, geometry_msgs::Point end, double* a, double* b, double* c);
 double getDistanceBetweenLineAndPoint(geometry_msgs::Point point, double sa, double b, double c);
 }
 #endif  // LANE_SELECT_CORE_H
diff --git a/ros/src/computing/planning/mission/packages/lane_planner/launch/lane_select.launch b/ros/src/computing/planning/mission/packages/lane_planner/launch/lane_select.launch
index e505c79aa9f..438786737a5 100644
--- a/ros/src/computing/planning/mission/packages/lane_planner/launch/lane_select.launch
+++ b/ros/src/computing/planning/mission/packages/lane_planner/launch/lane_select.launch
@@ -1,10 +1,6 @@
 <!-- -->
 <launch>
 
-<arg name="enablePlannerDynamicSwitch" default="false"/> 
+<node pkg="lane_planner" type="lane_select" name="lane_select" output="log"></node>
 
-<node pkg="lane_planner" type="lane_select" name="lane_select" output="log">
-<param name="enablePlannerDynamicSwitch"   value="$(arg enablePlannerDynamicSwitch)"/>
-</node>
-	
 </launch>
diff --git a/ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_rule/lane_rule.cpp b/ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_rule/lane_rule.cpp
index 7b019f0e3ec..60183a881f6 100644
--- a/ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_rule/lane_rule.cpp
+++ b/ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_rule/lane_rule.cpp
@@ -18,7 +18,7 @@
 
 #ifdef DEBUG
 #include <sstream>
-#endif // DEBUG
+#endif  // DEBUG
 
 #include <ros/console.h>
 
@@ -28,16 +28,16 @@
 
 #include <lane_planner/lane_planner_vmap.hpp>
 
-namespace {
-
-double config_acceleration = 1; // m/s^2
-double config_stopline_search_radius = 1; // meter
+namespace
+{
+double config_acceleration = 1;            // m/s^2
+double config_stopline_search_radius = 1;  // meter
 int config_number_of_zeros_ahead = 0;
 int config_number_of_zeros_behind = 0;
 int config_number_of_smoothing_count = 0;
 
 int waypoint_max;
-double search_radius; // meter
+double search_radius;  // meter
 double curve_weight;
 double crossroad_weight;
 double clothoid_weight;
@@ -58,549 +58,585 @@ autoware_msgs::LaneArray cached_waypoint;
 visualization_msgs::Marker debug_marker;
 ros::Publisher marker_pub;
 int marker_cnt;
-#endif // DEBUG
+#endif  // DEBUG
 
 autoware_msgs::Lane create_new_lane(const autoware_msgs::Lane& lane, const std_msgs::Header& header)
 {
-	autoware_msgs::Lane l = lane;
-	l.header = header;
+  autoware_msgs::Lane l = lane;
+  l.header = header;
 
-	for (autoware_msgs::Waypoint& w : l.waypoints) {
-		w.pose.header = header;
-		w.twist.header = header;
-	}
+  for (autoware_msgs::Waypoint& w : l.waypoints)
+  {
+    w.pose.header = header;
+    w.twist.header = header;
+  }
 
-	return l;
+  return l;
 }
 
-autoware_msgs::Lane apply_acceleration(const autoware_msgs::Lane& lane, double acceleration,
-					   size_t start_index, size_t fixed_cnt, double fixed_vel)
+autoware_msgs::Lane apply_acceleration(const autoware_msgs::Lane& lane, double acceleration, size_t start_index,
+                                       size_t fixed_cnt, double fixed_vel)
 {
-	autoware_msgs::Lane l = lane;
-
-	if (fixed_cnt == 0)
-		return l;
-
-	double square_vel = fixed_vel * fixed_vel;
-	double distance = 0;
-	for (size_t i = start_index; i < l.waypoints.size(); ++i) {
-		if (i - start_index < fixed_cnt) {
-			l.waypoints[i].twist.twist.linear.x = fixed_vel;
-			continue;
-		}
-
-		geometry_msgs::Point a = l.waypoints[i - 1].pose.pose.position;
-		geometry_msgs::Point b = l.waypoints[i].pose.pose.position;
-		distance += hypot(b.x - a.x, b.y - a.y);
-
-		double v = sqrt(square_vel + 2 * acceleration * distance);
-		if (v < l.waypoints[i].twist.twist.linear.x)
-			l.waypoints[i].twist.twist.linear.x = v;
-		else
-			break;
-	}
-
-	return l;
+  autoware_msgs::Lane l = lane;
+
+  if (fixed_cnt == 0)
+    return l;
+
+  double square_vel = fixed_vel * fixed_vel;
+  double distance = 0;
+  for (size_t i = start_index; i < l.waypoints.size(); ++i)
+  {
+    if (i - start_index < fixed_cnt)
+    {
+      l.waypoints[i].twist.twist.linear.x = fixed_vel;
+      continue;
+    }
+
+    geometry_msgs::Point a = l.waypoints[i - 1].pose.pose.position;
+    geometry_msgs::Point b = l.waypoints[i].pose.pose.position;
+    distance += hypot(b.x - a.x, b.y - a.y);
+
+    double v = sqrt(square_vel + 2 * acceleration * distance);
+    if (v < l.waypoints[i].twist.twist.linear.x)
+      l.waypoints[i].twist.twist.linear.x = v;
+    else
+      break;
+  }
+
+  return l;
 }
 
 autoware_msgs::Lane apply_crossroad_acceleration(const autoware_msgs::Lane& lane, double acceleration)
 {
-	autoware_msgs::Lane l = lane;
-
-	bool crossroad = false;
-	std::vector<size_t> start_indexes;
-	std::vector<size_t> end_indexes;
-	for (size_t i = 0; i < l.waypoints.size(); ++i) {
-		vector_map::DTLane dtlane = lane_planner::vmap::create_vector_map_dtlane(l.waypoints[i].dtlane);
-		if (i == 0) {
-			crossroad = lane_planner::vmap::is_crossroad_dtlane(dtlane);
-			continue;
-		}
-		if (crossroad) {
-			if (!lane_planner::vmap::is_crossroad_dtlane(dtlane)) {
-				end_indexes.push_back(i - 1);
-				crossroad = false;
-			}
-		} else {
-			if (lane_planner::vmap::is_crossroad_dtlane(dtlane)) {
-				start_indexes.push_back(i);
-				crossroad = true;
-			}
-		}
-	}
-	if (start_indexes.empty() && end_indexes.empty())
-		return l;
-
-	for (const size_t i : end_indexes)
-		l = apply_acceleration(l, acceleration, i, 1, l.waypoints[i].twist.twist.linear.x);
-
-	std::reverse(l.waypoints.begin(), l.waypoints.end());
-
-	std::vector<size_t> reverse_start_indexes;
-	for (const size_t i : start_indexes)
-		reverse_start_indexes.push_back(l.waypoints.size() - i - 1);
-	std::reverse(reverse_start_indexes.begin(), reverse_start_indexes.end());
-
-	for (const size_t i : reverse_start_indexes)
-		l = apply_acceleration(l, acceleration, i, 1, l.waypoints[i].twist.twist.linear.x);
-
-	std::reverse(l.waypoints.begin(), l.waypoints.end());
-
-	return l;
+  autoware_msgs::Lane l = lane;
+
+  bool crossroad = false;
+  std::vector<size_t> start_indexes;
+  std::vector<size_t> end_indexes;
+  for (size_t i = 0; i < l.waypoints.size(); ++i)
+  {
+    vector_map::DTLane dtlane = lane_planner::vmap::create_vector_map_dtlane(l.waypoints[i].dtlane);
+    if (i == 0)
+    {
+      crossroad = lane_planner::vmap::is_crossroad_dtlane(dtlane);
+      continue;
+    }
+    if (crossroad)
+    {
+      if (!lane_planner::vmap::is_crossroad_dtlane(dtlane))
+      {
+        end_indexes.push_back(i - 1);
+        crossroad = false;
+      }
+    }
+    else
+    {
+      if (lane_planner::vmap::is_crossroad_dtlane(dtlane))
+      {
+        start_indexes.push_back(i);
+        crossroad = true;
+      }
+    }
+  }
+  if (start_indexes.empty() && end_indexes.empty())
+    return l;
+
+  for (const size_t i : end_indexes)
+    l = apply_acceleration(l, acceleration, i, 1, l.waypoints[i].twist.twist.linear.x);
+
+  std::reverse(l.waypoints.begin(), l.waypoints.end());
+
+  std::vector<size_t> reverse_start_indexes;
+  for (const size_t i : start_indexes)
+    reverse_start_indexes.push_back(l.waypoints.size() - i - 1);
+  std::reverse(reverse_start_indexes.begin(), reverse_start_indexes.end());
+
+  for (const size_t i : reverse_start_indexes)
+    l = apply_acceleration(l, acceleration, i, 1, l.waypoints[i].twist.twist.linear.x);
+
+  std::reverse(l.waypoints.begin(), l.waypoints.end());
+
+  return l;
 }
 
 autoware_msgs::Lane apply_stopline_acceleration(const autoware_msgs::Lane& lane, double acceleration,
-						    const lane_planner::vmap::VectorMap& fine_vmap, size_t ahead_cnt,
-						    size_t behind_cnt)
+                                                const lane_planner::vmap::VectorMap& fine_vmap, size_t ahead_cnt,
+                                                size_t behind_cnt)
 {
-	autoware_msgs::Lane l = lane;
+  autoware_msgs::Lane l = lane;
 
-	std::vector<size_t> indexes;
-	for (size_t i = 0; i < fine_vmap.stoplines.size(); ++i) {
-		if (fine_vmap.stoplines[i].id >= 0)
-			indexes.push_back(i);
-	}
-	if (indexes.empty())
-		return l;
+  std::vector<size_t> indexes;
+  for (size_t i = 0; i < fine_vmap.stoplines.size(); ++i)
+  {
+    if (fine_vmap.stoplines[i].id >= 0)
+      indexes.push_back(i);
+  }
+  if (indexes.empty())
+    return l;
 
-	for (const size_t i : indexes)
-		l = apply_acceleration(l, acceleration, i, behind_cnt + 1, 0);
+  for (const size_t i : indexes)
+    l = apply_acceleration(l, acceleration, i, behind_cnt + 1, 0);
 
-	std::reverse(l.waypoints.begin(), l.waypoints.end());
+  std::reverse(l.waypoints.begin(), l.waypoints.end());
 
-	std::vector<size_t> reverse_indexes;
-	for (const size_t i : indexes)
-		reverse_indexes.push_back(l.waypoints.size() - i - 1);
-	std::reverse(reverse_indexes.begin(), reverse_indexes.end());
+  std::vector<size_t> reverse_indexes;
+  for (const size_t i : indexes)
+    reverse_indexes.push_back(l.waypoints.size() - i - 1);
+  std::reverse(reverse_indexes.begin(), reverse_indexes.end());
 
-	for (const size_t i : reverse_indexes)
-		l = apply_acceleration(l, acceleration, i, ahead_cnt + 1, 0);
+  for (const size_t i : reverse_indexes)
+    l = apply_acceleration(l, acceleration, i, ahead_cnt + 1, 0);
 
-	std::reverse(l.waypoints.begin(), l.waypoints.end());
+  std::reverse(l.waypoints.begin(), l.waypoints.end());
 
-	return l;
+  return l;
 }
 
 std::vector<vector_map::Point> create_stop_points(const lane_planner::vmap::VectorMap& vmap)
 {
-	std::vector<vector_map::Point> stop_points;
-	for (const vector_map::StopLine& s : vmap.stoplines) {
-		for (const vector_map::Lane& l : vmap.lanes) {
-			if (l.lnid != s.linkid)
-				continue;
-			for (const vector_map::Node& n : vmap.nodes) {
-				if (n.nid != l.bnid)
-					continue;
-				for (const vector_map::Point& p : vmap.points) {
-					if (p.pid != n.pid)
-						continue;
-					bool hit = false;
-					for (const vector_map::Point& sp : stop_points) {
-						if (sp.pid == p.pid) {
-							hit = true;
-							break;
-						}
-					}
-					if (!hit)
-						stop_points.push_back(p);
-				}
-			}
-		}
-	}
-
-	return stop_points;
+  std::vector<vector_map::Point> stop_points;
+  for (const vector_map::StopLine& s : vmap.stoplines)
+  {
+    for (const vector_map::Lane& l : vmap.lanes)
+    {
+      if (l.lnid != s.linkid)
+        continue;
+      for (const vector_map::Node& n : vmap.nodes)
+      {
+        if (n.nid != l.bnid)
+          continue;
+        for (const vector_map::Point& p : vmap.points)
+        {
+          if (p.pid != n.pid)
+            continue;
+          bool hit = false;
+          for (const vector_map::Point& sp : stop_points)
+          {
+            if (sp.pid == p.pid)
+            {
+              hit = true;
+              break;
+            }
+          }
+          if (!hit)
+            stop_points.push_back(p);
+        }
+      }
+    }
+  }
+
+  return stop_points;
 }
 
-std::vector<size_t> create_stop_indexes(const lane_planner::vmap::VectorMap& vmap,
-					const autoware_msgs::Lane& lane, double stopline_search_radius)
+std::vector<size_t> create_stop_indexes(const lane_planner::vmap::VectorMap& vmap, const autoware_msgs::Lane& lane,
+                                        double stopline_search_radius)
 {
-	std::vector<size_t> stop_indexes;
-	for (const vector_map::Point& p : create_stop_points(vmap)) {
-		size_t index = SIZE_MAX;
-		double distance = DBL_MAX;
-		for (size_t i = 0; i < lane.waypoints.size(); ++i) {
-			vector_map::Point point =
-				lane_planner::vmap::create_vector_map_point(lane.waypoints[i].pose.pose.position);
-			double d = hypot(p.bx - point.bx, p.ly - point.ly);
-			if (d <= distance) {
-				index = i;
-				distance = d;
-			}
-		}
-		if (index != SIZE_MAX && distance <= stopline_search_radius) {
-			stop_indexes.push_back(index);
-		}
-	}
-	std::sort(stop_indexes.begin(), stop_indexes.end());
-
-	return stop_indexes;
+  std::vector<size_t> stop_indexes;
+  for (const vector_map::Point& p : create_stop_points(vmap))
+  {
+    size_t index = SIZE_MAX;
+    double distance = DBL_MAX;
+    for (size_t i = 0; i < lane.waypoints.size(); ++i)
+    {
+      vector_map::Point point = lane_planner::vmap::create_vector_map_point(lane.waypoints[i].pose.pose.position);
+      double d = hypot(p.bx - point.bx, p.ly - point.ly);
+      if (d <= distance)
+      {
+        index = i;
+        distance = d;
+      }
+    }
+    if (index != SIZE_MAX && distance <= stopline_search_radius)
+    {
+      stop_indexes.push_back(index);
+    }
+  }
+  std::sort(stop_indexes.begin(), stop_indexes.end());
+
+  return stop_indexes;
 }
 
 autoware_msgs::Lane apply_stopline_acceleration(const autoware_msgs::Lane& lane, double acceleration,
-						    double stopline_search_radius, size_t ahead_cnt, size_t behind_cnt)
+                                                double stopline_search_radius, size_t ahead_cnt, size_t behind_cnt)
 {
-	autoware_msgs::Lane l = lane;
+  autoware_msgs::Lane l = lane;
 
-	std::vector<size_t> indexes = create_stop_indexes(lane_vmap, l, stopline_search_radius);
-	if (indexes.empty())
-		return l;
+  std::vector<size_t> indexes = create_stop_indexes(lane_vmap, l, stopline_search_radius);
+  if (indexes.empty())
+    return l;
 
-	for (const size_t i : indexes)
-		l = apply_acceleration(l, acceleration, i, behind_cnt + 1, 0);
+  for (const size_t i : indexes)
+    l = apply_acceleration(l, acceleration, i, behind_cnt + 1, 0);
 
-	std::reverse(l.waypoints.begin(), l.waypoints.end());
+  std::reverse(l.waypoints.begin(), l.waypoints.end());
 
-	std::vector<size_t> reverse_indexes;
-	for (const size_t i : indexes)
-		reverse_indexes.push_back(l.waypoints.size() - i - 1);
-	std::reverse(reverse_indexes.begin(), reverse_indexes.end());
+  std::vector<size_t> reverse_indexes;
+  for (const size_t i : indexes)
+    reverse_indexes.push_back(l.waypoints.size() - i - 1);
+  std::reverse(reverse_indexes.begin(), reverse_indexes.end());
 
-	for (const size_t i : reverse_indexes)
-		l = apply_acceleration(l, acceleration, i, ahead_cnt + 1, 0);
+  for (const size_t i : reverse_indexes)
+    l = apply_acceleration(l, acceleration, i, ahead_cnt + 1, 0);
 
-	std::reverse(l.waypoints.begin(), l.waypoints.end());
+  std::reverse(l.waypoints.begin(), l.waypoints.end());
 
-	return l;
+  return l;
 }
 
 bool is_fine_vmap(const lane_planner::vmap::VectorMap& fine_vmap, const autoware_msgs::Lane& lane)
 {
-	if (fine_vmap.points.size() != lane.waypoints.size())
-		return false;
-
-	for (size_t i = 0; i < fine_vmap.points.size(); ++i) {
-		vector_map::Point point =
-			lane_planner::vmap::create_vector_map_point(lane.waypoints[i].pose.pose.position);
-		double distance = hypot(fine_vmap.points[i].bx - point.bx, fine_vmap.points[i].ly - point.ly);
-		if (distance > 0.1)
-			return false;
-	}
-
-	return true;
+  if (fine_vmap.points.size() != lane.waypoints.size())
+    return false;
+
+  for (size_t i = 0; i < fine_vmap.points.size(); ++i)
+  {
+    vector_map::Point point = lane_planner::vmap::create_vector_map_point(lane.waypoints[i].pose.pose.position);
+    double distance = hypot(fine_vmap.points[i].bx - point.bx, fine_vmap.points[i].ly - point.ly);
+    if (distance > 0.1)
+      return false;
+  }
+
+  return true;
 }
 
 double create_reduction(const lane_planner::vmap::VectorMap& fine_vmap, int index)
 {
-	const vector_map::DTLane& dtlane = fine_vmap.dtlanes[index];
+  const vector_map::DTLane& dtlane = fine_vmap.dtlanes[index];
 
-	if (lane_planner::vmap::is_straight_dtlane(dtlane))
-		return 1;
+  if (lane_planner::vmap::is_straight_dtlane(dtlane))
+    return 1;
 
-	if (lane_planner::vmap::is_curve_dtlane(dtlane)) {
-		if (lane_planner::vmap::is_crossroad_dtlane(dtlane))
-			return lane_planner::vmap::compute_reduction(dtlane, crossroad_radius_min * crossroad_weight);
+  if (lane_planner::vmap::is_curve_dtlane(dtlane))
+  {
+    if (lane_planner::vmap::is_crossroad_dtlane(dtlane))
+      return lane_planner::vmap::compute_reduction(dtlane, crossroad_radius_min * crossroad_weight);
 
-		if (lane_planner::vmap::is_connection_dtlane(fine_vmap, index))
-			return 1;
+    if (lane_planner::vmap::is_connection_dtlane(fine_vmap, index))
+      return 1;
 
-		return lane_planner::vmap::compute_reduction(dtlane, curve_radius_min * curve_weight);
-	}
+    return lane_planner::vmap::compute_reduction(dtlane, curve_radius_min * curve_weight);
+  }
 
-	if (lane_planner::vmap::is_clothoid_dtlane(dtlane))
-		return lane_planner::vmap::compute_reduction(dtlane, clothoid_radius_min * clothoid_weight);
+  if (lane_planner::vmap::is_clothoid_dtlane(dtlane))
+    return lane_planner::vmap::compute_reduction(dtlane, clothoid_radius_min * clothoid_weight);
 
-	return 1;
+  return 1;
 }
 
 #ifdef DEBUG
 std_msgs::ColorRGBA create_color(int index)
 {
-	std_msgs::ColorRGBA color;
-	switch (index) {
-	case 0:
-		color.r = 0;
-		color.g = 0;
-		color.b = 0;
-		break;
-	case 1:
-		color.r = 0;
-		color.g = 0;
-		color.b = 1;
-		break;
-	case 2:
-		color.r = 0;
-		color.g = 1;
-		color.b = 0;
-		break;
-	case 3:
-		color.r = 0;
-		color.g = 1;
-		color.b = 1;
-		break;
-	case 4:
-		color.r = 1;
-		color.g = 0;
-		color.b = 0;
-		break;
-	case 5:
-		color.r = 1;
-		color.g = 0;
-		color.b = 1;
-		break;
-	case 6:
-		color.r = 1;
-		color.g = 1;
-		color.b = 0;
-		break;
-	default:
-		color.r = 1;
-		color.g = 1;
-		color.b = 1;
-	}
-	color.a = 1;
-
-	return color;
+  std_msgs::ColorRGBA color;
+  switch (index)
+  {
+    case 0:
+      color.r = 0;
+      color.g = 0;
+      color.b = 0;
+      break;
+    case 1:
+      color.r = 0;
+      color.g = 0;
+      color.b = 1;
+      break;
+    case 2:
+      color.r = 0;
+      color.g = 1;
+      color.b = 0;
+      break;
+    case 3:
+      color.r = 0;
+      color.g = 1;
+      color.b = 1;
+      break;
+    case 4:
+      color.r = 1;
+      color.g = 0;
+      color.b = 0;
+      break;
+    case 5:
+      color.r = 1;
+      color.g = 0;
+      color.b = 1;
+      break;
+    case 6:
+      color.r = 1;
+      color.g = 1;
+      color.b = 0;
+      break;
+    default:
+      color.r = 1;
+      color.g = 1;
+      color.b = 1;
+  }
+  color.a = 1;
+
+  return color;
 }
-#endif // DEBUG
+#endif  // DEBUG
 
 void create_waypoint(const autoware_msgs::LaneArray& msg)
 {
-	std_msgs::Header header;
-	header.stamp = ros::Time::now();
-	header.frame_id = frame_id;
-
-	cached_waypoint.lanes.clear();
-	cached_waypoint.lanes.shrink_to_fit();
-	for (const autoware_msgs::Lane& l : msg.lanes)
-		cached_waypoint.lanes.push_back(create_new_lane(l, header));
-	if (all_vmap.points.empty() || all_vmap.lanes.empty() || all_vmap.nodes.empty() ||
-	    all_vmap.stoplines.empty() || all_vmap.dtlanes.empty()) {
-		traffic_pub.publish(cached_waypoint);
-		return;
-	}
+  std_msgs::Header header;
+  header.stamp = ros::Time::now();
+  header.frame_id = frame_id;
+
+  cached_waypoint.lanes.clear();
+  cached_waypoint.lanes.shrink_to_fit();
+  cached_waypoint.id = msg.id;
+  for (const autoware_msgs::Lane& l : msg.lanes)
+    cached_waypoint.lanes.push_back(create_new_lane(l, header));
+  if (all_vmap.points.empty() || all_vmap.lanes.empty() || all_vmap.nodes.empty() || all_vmap.stoplines.empty() ||
+      all_vmap.dtlanes.empty())
+  {
+    traffic_pub.publish(cached_waypoint);
+    return;
+  }
 
 #ifdef DEBUG
-	marker_cnt = msg.lanes.size();
-#endif // DEBUG
-
-	autoware_msgs::LaneArray traffic_waypoint;
-	autoware_msgs::LaneArray red_waypoint;
-	autoware_msgs::LaneArray green_waypoint;
-	for (size_t i = 0; i < msg.lanes.size(); ++i) {
-		autoware_msgs::Lane lane = create_new_lane(msg.lanes[i], header);
-
-		lane_planner::vmap::VectorMap coarse_vmap =
-			lane_planner::vmap::create_coarse_vmap_from_lane(lane);
-		if (coarse_vmap.points.size() < 2) {
-			traffic_waypoint.lanes.push_back(lane);
-			continue;
-		}
-
-		lane_planner::vmap::VectorMap fine_vmap =
-			lane_planner::vmap::create_fine_vmap(lane_vmap, lane_planner::vmap::LNO_ALL, coarse_vmap,
-							     search_radius, waypoint_max);
-		if (fine_vmap.points.size() < 2 || !is_fine_vmap(fine_vmap, lane)) {
-			traffic_waypoint.lanes.push_back(lane);
-			green_waypoint.lanes.push_back(lane);
-			lane = apply_stopline_acceleration(lane, config_acceleration, config_stopline_search_radius,
-							   config_number_of_zeros_ahead,
-							   config_number_of_zeros_behind);
-			red_waypoint.lanes.push_back(lane);
-			continue;
-		}
-
-		for (size_t j = 0; j < lane.waypoints.size(); ++j) {
-			lane.waypoints[j].twist.twist.linear.x *= create_reduction(fine_vmap, j);
-			if (fine_vmap.dtlanes[j].did >= 0) {
-				lane.waypoints[j].dtlane =
-					lane_planner::vmap::create_waypoint_follower_dtlane(fine_vmap.dtlanes[j]);
-			}
-		}
-
-		/* velocity smoothing */
-		for(int k = 0; k < config_number_of_smoothing_count; ++k){
-			autoware_msgs::Lane temp_lane = lane;
-			if(lane.waypoints.size() >= 3){
-				for (size_t j = 1; j < lane.waypoints.size()-1; ++j) {
-					if(lane.waypoints.at(j).twist.twist.linear.x != 0)
-					{
-						lane.waypoints[j].twist.twist.linear.x = 
-							(temp_lane.waypoints.at(j-1).twist.twist.linear.x + 
-							 temp_lane.waypoints.at(j).twist.twist.linear.x + 
-							 temp_lane.waypoints.at(j+1).twist.twist.linear.x) / 3 ;
-					}
-				}
-			}
-		}
-
-
-		lane = apply_crossroad_acceleration(lane, config_acceleration);
-
-		traffic_waypoint.lanes.push_back(lane);
-		green_waypoint.lanes.push_back(lane);
-
-		lane = apply_stopline_acceleration(lane, config_acceleration, fine_vmap, config_number_of_zeros_ahead,
-						   config_number_of_zeros_behind);
-
-		red_waypoint.lanes.push_back(lane);
+  marker_cnt = msg.lanes.size();
+#endif  // DEBUG
+
+  autoware_msgs::LaneArray traffic_waypoint;
+  autoware_msgs::LaneArray red_waypoint;
+  autoware_msgs::LaneArray green_waypoint;
+  traffic_waypoint.id = red_waypoint.id = green_waypoint.id = msg.id;
+  for (size_t i = 0; i < msg.lanes.size(); ++i)
+  {
+    autoware_msgs::Lane lane = create_new_lane(msg.lanes[i], header);
+
+    lane_planner::vmap::VectorMap coarse_vmap = lane_planner::vmap::create_coarse_vmap_from_lane(lane);
+    if (coarse_vmap.points.size() < 2)
+    {
+      traffic_waypoint.lanes.push_back(lane);
+      continue;
+    }
+
+    lane_planner::vmap::VectorMap fine_vmap = lane_planner::vmap::create_fine_vmap(
+        lane_vmap, lane_planner::vmap::LNO_ALL, coarse_vmap, search_radius, waypoint_max);
+    if (fine_vmap.points.size() < 2 || !is_fine_vmap(fine_vmap, lane))
+    {
+      traffic_waypoint.lanes.push_back(lane);
+      green_waypoint.lanes.push_back(lane);
+      lane = apply_stopline_acceleration(lane, config_acceleration, config_stopline_search_radius,
+                                         config_number_of_zeros_ahead, config_number_of_zeros_behind);
+      red_waypoint.lanes.push_back(lane);
+      continue;
+    }
+
+    for (size_t j = 0; j < lane.waypoints.size(); ++j)
+    {
+      lane.waypoints[j].twist.twist.linear.x *= create_reduction(fine_vmap, j);
+      if (fine_vmap.dtlanes[j].did >= 0)
+      {
+        lane.waypoints[j].dtlane = lane_planner::vmap::create_waypoint_follower_dtlane(fine_vmap.dtlanes[j]);
+      }
+    }
+
+    /* velocity smoothing */
+    for (int k = 0; k < config_number_of_smoothing_count; ++k)
+    {
+      autoware_msgs::Lane temp_lane = lane;
+      if (lane.waypoints.size() >= 3)
+      {
+        for (size_t j = 1; j < lane.waypoints.size() - 1; ++j)
+        {
+          if (lane.waypoints.at(j).twist.twist.linear.x != 0)
+          {
+            lane.waypoints[j].twist.twist.linear.x =
+                (temp_lane.waypoints.at(j - 1).twist.twist.linear.x + temp_lane.waypoints.at(j).twist.twist.linear.x +
+                 temp_lane.waypoints.at(j + 1).twist.twist.linear.x) /
+                3;
+          }
+        }
+      }
+    }
+
+    lane = apply_crossroad_acceleration(lane, config_acceleration);
+
+    traffic_waypoint.lanes.push_back(lane);
+    green_waypoint.lanes.push_back(lane);
+
+    lane = apply_stopline_acceleration(lane, config_acceleration, fine_vmap, config_number_of_zeros_ahead,
+                                       config_number_of_zeros_behind);
+
+    red_waypoint.lanes.push_back(lane);
 
 #ifdef DEBUG
-		std::stringstream ss;
-		ss << "_" << i;
+    std::stringstream ss;
+    ss << "_" << i;
 
-		visualization_msgs::Marker m = debug_marker;
-		m.ns = "lane" + ss.str();
-		m.color = create_color(i);
+    visualization_msgs::Marker m = debug_marker;
+    m.ns = "lane" + ss.str();
+    m.color = create_color(i);
 
-		lane_planner::vmap::publish_add_marker(marker_pub, m, fine_vmap.points);
-#endif // DEBUG
-	}
+    lane_planner::vmap::publish_add_marker(marker_pub, m, fine_vmap.points);
+#endif  // DEBUG
+  }
 
-	traffic_pub.publish(traffic_waypoint);
-	red_pub.publish(red_waypoint);
-	green_pub.publish(green_waypoint);
+  traffic_pub.publish(traffic_waypoint);
+  red_pub.publish(red_waypoint);
+  green_pub.publish(green_waypoint);
 }
 
 void update_values()
 {
-	if (all_vmap.points.empty() || all_vmap.lanes.empty() || all_vmap.nodes.empty() ||
-	    all_vmap.stoplines.empty() || all_vmap.dtlanes.empty())
-		return;
-
-	lane_vmap = lane_planner::vmap::create_lane_vmap(all_vmap, lane_planner::vmap::LNO_ALL);
-
-	curve_radius_min = lane_planner::vmap::RADIUS_MAX;
-	crossroad_radius_min = lane_planner::vmap::RADIUS_MAX;
-	clothoid_radius_min = lane_planner::vmap::RADIUS_MAX;
-	for (const vector_map::DTLane& d : lane_vmap.dtlanes) {
-		double radius_min = fabs(d.r);
-		if (lane_planner::vmap::is_curve_dtlane(d)) {
-			if (lane_planner::vmap::is_crossroad_dtlane(d)) {
-				if (radius_min < crossroad_radius_min)
-					crossroad_radius_min = radius_min;
-			} else {
-				if (radius_min < curve_radius_min)
-					curve_radius_min = radius_min;
-			}
-		} else if (lane_planner::vmap::is_clothoid_dtlane(d)) {
-			if (radius_min < clothoid_radius_min)
-				clothoid_radius_min = radius_min;
-		}
-	}
+  if (all_vmap.points.empty() || all_vmap.lanes.empty() || all_vmap.nodes.empty() || all_vmap.stoplines.empty() ||
+      all_vmap.dtlanes.empty())
+    return;
+
+  lane_vmap = lane_planner::vmap::create_lane_vmap(all_vmap, lane_planner::vmap::LNO_ALL);
+
+  curve_radius_min = lane_planner::vmap::RADIUS_MAX;
+  crossroad_radius_min = lane_planner::vmap::RADIUS_MAX;
+  clothoid_radius_min = lane_planner::vmap::RADIUS_MAX;
+  for (const vector_map::DTLane& d : lane_vmap.dtlanes)
+  {
+    double radius_min = fabs(d.r);
+    if (lane_planner::vmap::is_curve_dtlane(d))
+    {
+      if (lane_planner::vmap::is_crossroad_dtlane(d))
+      {
+        if (radius_min < crossroad_radius_min)
+          crossroad_radius_min = radius_min;
+      }
+      else
+      {
+        if (radius_min < curve_radius_min)
+          curve_radius_min = radius_min;
+      }
+    }
+    else if (lane_planner::vmap::is_clothoid_dtlane(d))
+    {
+      if (radius_min < clothoid_radius_min)
+        clothoid_radius_min = radius_min;
+    }
+  }
 
 #ifdef DEBUG
-	for (int i = 0; i < marker_cnt; ++i) {
-		std::stringstream ss;
-		ss << "_" << i;
-
-		visualization_msgs::Marker m = debug_marker;
-		m.ns = "lane" + ss.str();
-
-		lane_planner::vmap::publish_delete_marker(marker_pub, m);
-	}
-	marker_cnt = 0;
-#endif // DEBUG
-
-	if (!cached_waypoint.lanes.empty()) {
-		autoware_msgs::LaneArray update_waypoint = cached_waypoint;
-		create_waypoint(update_waypoint);
-	}
+  for (int i = 0; i < marker_cnt; ++i)
+  {
+    std::stringstream ss;
+    ss << "_" << i;
+
+    visualization_msgs::Marker m = debug_marker;
+    m.ns = "lane" + ss.str();
+
+    lane_planner::vmap::publish_delete_marker(marker_pub, m);
+  }
+  marker_cnt = 0;
+#endif  // DEBUG
+
+  if (!cached_waypoint.lanes.empty())
+  {
+    autoware_msgs::LaneArray update_waypoint = cached_waypoint;
+    create_waypoint(update_waypoint);
+  }
 }
 
 void cache_point(const vector_map::PointArray& msg)
 {
-	all_vmap.points = msg.data;
-	update_values();
+  all_vmap.points = msg.data;
+  update_values();
 }
 
 void cache_lane(const vector_map::LaneArray& msg)
 {
-	all_vmap.lanes = msg.data;
-	update_values();
+  all_vmap.lanes = msg.data;
+  update_values();
 }
 
 void cache_node(const vector_map::NodeArray& msg)
 {
-	all_vmap.nodes = msg.data;
-	update_values();
+  all_vmap.nodes = msg.data;
+  update_values();
 }
 
 void cache_stopline(const vector_map::StopLineArray& msg)
 {
-	all_vmap.stoplines = msg.data;
-	update_values();
+  all_vmap.stoplines = msg.data;
+  update_values();
 }
 
 void cache_dtlane(const vector_map::DTLaneArray& msg)
 {
-	all_vmap.dtlanes = msg.data;
-	update_values();
+  all_vmap.dtlanes = msg.data;
+  update_values();
 }
 
 void config_parameter(const autoware_config_msgs::ConfigLaneRule& msg)
 {
-	config_acceleration = msg.acceleration;
-	config_stopline_search_radius = msg.stopline_search_radius;
-	config_number_of_zeros_ahead = msg.number_of_zeros_ahead;
-	config_number_of_zeros_behind = msg.number_of_zeros_behind;
-	config_number_of_smoothing_count = msg.number_of_smoothing_count;
-
-	if (!cached_waypoint.lanes.empty()) {
-		autoware_msgs::LaneArray update_waypoint = cached_waypoint;
-		create_waypoint(update_waypoint);
-	}
+  config_acceleration = msg.acceleration;
+  config_stopline_search_radius = msg.stopline_search_radius;
+  config_number_of_zeros_ahead = msg.number_of_zeros_ahead;
+  config_number_of_zeros_behind = msg.number_of_zeros_behind;
+  config_number_of_smoothing_count = msg.number_of_smoothing_count;
+
+  if (!cached_waypoint.lanes.empty())
+  {
+    autoware_msgs::LaneArray update_waypoint = cached_waypoint;
+    create_waypoint(update_waypoint);
+  }
 }
 
-} // namespace
+}  // namespace
 
-int main(int argc, char **argv)
+int main(int argc, char** argv)
 {
-	ros::init(argc, argv, "lane_rule");
-
-	ros::NodeHandle n;
-
-	int sub_vmap_queue_size;
-	n.param<int>("/lane_rule/sub_vmap_queue_size", sub_vmap_queue_size, 1);
-	int sub_waypoint_queue_size;
-	n.param<int>("/lane_rule/sub_waypoint_queue_size", sub_waypoint_queue_size, 1);
-	int sub_config_queue_size;
-	n.param<int>("/lane_rule/sub_config_queue_size", sub_config_queue_size, 1);
-	int pub_waypoint_queue_size;
-	n.param<int>("/lane_rule/pub_waypoint_queue_size", pub_waypoint_queue_size, 1);
-	bool pub_waypoint_latch;
-	n.param<bool>("/lane_rule/pub_waypoint_latch", pub_waypoint_latch, true);
+  ros::init(argc, argv, "lane_rule");
+
+  ros::NodeHandle n;
+
+  int sub_vmap_queue_size;
+  n.param<int>("/lane_rule/sub_vmap_queue_size", sub_vmap_queue_size, 1);
+  int sub_waypoint_queue_size;
+  n.param<int>("/lane_rule/sub_waypoint_queue_size", sub_waypoint_queue_size, 1);
+  int sub_config_queue_size;
+  n.param<int>("/lane_rule/sub_config_queue_size", sub_config_queue_size, 1);
+  int pub_waypoint_queue_size;
+  n.param<int>("/lane_rule/pub_waypoint_queue_size", pub_waypoint_queue_size, 1);
+  bool pub_waypoint_latch;
+  n.param<bool>("/lane_rule/pub_waypoint_latch", pub_waypoint_latch, true);
 #ifdef DEBUG
-	int pub_marker_queue_size;
-	n.param<int>("/lane_rule/pub_marker_queue_size", pub_marker_queue_size, 10);
-	bool pub_marker_latch;
-	n.param<bool>("/lane_rule/pub_marker_latch", pub_marker_latch, true);
-#endif // DEBUG
-
-	n.param<int>("/lane_rule/waypoint_max", waypoint_max, 10000);
-	n.param<double>("/lane_rule/search_radius", search_radius, 10);
-	n.param<double>("/lane_rule/curve_weight", curve_weight, 0.6);
-	n.param<double>("/lane_rule/crossroad_weight", crossroad_weight, 0.9);
-	n.param<double>("/lane_rule/clothoid_weight", clothoid_weight, 0.215);
-	n.param<std::string>("/lane_rule/frame_id", frame_id, "map");
-
-	traffic_pub = n.advertise<autoware_msgs::LaneArray>("/traffic_waypoints_array", pub_waypoint_queue_size,
-								pub_waypoint_latch);
-	red_pub = n.advertise<autoware_msgs::LaneArray>("/red_waypoints_array", pub_waypoint_queue_size,
-							    pub_waypoint_latch);
-	green_pub = n.advertise<autoware_msgs::LaneArray>("/green_waypoints_array", pub_waypoint_queue_size,
-							      pub_waypoint_latch);
+  int pub_marker_queue_size;
+  n.param<int>("/lane_rule/pub_marker_queue_size", pub_marker_queue_size, 10);
+  bool pub_marker_latch;
+  n.param<bool>("/lane_rule/pub_marker_latch", pub_marker_latch, true);
+#endif  // DEBUG
+
+  n.param<int>("/lane_rule/waypoint_max", waypoint_max, 10000);
+  n.param<double>("/lane_rule/search_radius", search_radius, 10);
+  n.param<double>("/lane_rule/curve_weight", curve_weight, 0.6);
+  n.param<double>("/lane_rule/crossroad_weight", crossroad_weight, 0.9);
+  n.param<double>("/lane_rule/clothoid_weight", clothoid_weight, 0.215);
+  n.param<std::string>("/lane_rule/frame_id", frame_id, "map");
+
+  traffic_pub =
+      n.advertise<autoware_msgs::LaneArray>("/traffic_waypoints_array", pub_waypoint_queue_size, pub_waypoint_latch);
+  red_pub = n.advertise<autoware_msgs::LaneArray>("/red_waypoints_array", pub_waypoint_queue_size, pub_waypoint_latch);
+  green_pub =
+      n.advertise<autoware_msgs::LaneArray>("/green_waypoints_array", pub_waypoint_queue_size, pub_waypoint_latch);
 
 #ifdef DEBUG
-	debug_marker.header.frame_id = frame_id;
-	debug_marker.id = 0;
-	debug_marker.type = visualization_msgs::Marker::LINE_STRIP;
-	debug_marker.scale.x = 0.2;
-	debug_marker.scale.y = 0.2;
-	debug_marker.frame_locked = true;
-
-	marker_pub = n.advertise<visualization_msgs::Marker>("/waypoint_debug", pub_marker_queue_size,
-							     pub_marker_latch);
-#endif // DEBUG
-
-	ros::Subscriber waypoint_sub = n.subscribe("/lane_waypoints_array", sub_waypoint_queue_size, create_waypoint);
-	ros::Subscriber point_sub = n.subscribe("/vector_map_info/point", sub_vmap_queue_size, cache_point);
-	ros::Subscriber lane_sub = n.subscribe("/vector_map_info/lane", sub_vmap_queue_size, cache_lane);
-	ros::Subscriber node_sub = n.subscribe("/vector_map_info/node", sub_vmap_queue_size, cache_node);
-	ros::Subscriber stopline_sub = n.subscribe("/vector_map_info/stop_line", sub_vmap_queue_size, cache_stopline);
-	ros::Subscriber dtlane_sub = n.subscribe("/vector_map_info/dtlane", sub_vmap_queue_size, cache_dtlane);
-	ros::Subscriber config_sub = n.subscribe("/config/lane_rule", sub_config_queue_size, config_parameter);
-
-	ros::spin();
-
-	return EXIT_SUCCESS;
+  debug_marker.header.frame_id = frame_id;
+  debug_marker.id = 0;
+  debug_marker.type = visualization_msgs::Marker::LINE_STRIP;
+  debug_marker.scale.x = 0.2;
+  debug_marker.scale.y = 0.2;
+  debug_marker.frame_locked = true;
+
+  marker_pub = n.advertise<visualization_msgs::Marker>("/waypoint_debug", pub_marker_queue_size, pub_marker_latch);
+#endif  // DEBUG
+
+  ros::Subscriber waypoint_sub = n.subscribe("/lane_waypoints_array", sub_waypoint_queue_size, create_waypoint);
+  ros::Subscriber point_sub = n.subscribe("/vector_map_info/point", sub_vmap_queue_size, cache_point);
+  ros::Subscriber lane_sub = n.subscribe("/vector_map_info/lane", sub_vmap_queue_size, cache_lane);
+  ros::Subscriber node_sub = n.subscribe("/vector_map_info/node", sub_vmap_queue_size, cache_node);
+  ros::Subscriber stopline_sub = n.subscribe("/vector_map_info/stop_line", sub_vmap_queue_size, cache_stopline);
+  ros::Subscriber dtlane_sub = n.subscribe("/vector_map_info/dtlane", sub_vmap_queue_size, cache_dtlane);
+  ros::Subscriber config_sub = n.subscribe("/config/lane_rule", sub_config_queue_size, config_parameter);
+
+  ros::spin();
+
+  return EXIT_SUCCESS;
 }
diff --git a/ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_select/lane_select_core.cpp b/ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_select/lane_select_core.cpp
index dd6ac5f7657..3c91a738885 100644
--- a/ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_select/lane_select_core.cpp
+++ b/ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_select/lane_select_core.cpp
@@ -21,6 +21,7 @@ namespace lane_planner
 // Constructor
 LaneSelectNode::LaneSelectNode()
   : private_nh_("~")
+  , lane_array_id_(-1)
   , current_lane_idx_(-1)
   , right_lane_idx_(-1)
   , left_lane_idx_(-1)
@@ -52,25 +53,16 @@ void LaneSelectNode::initForROS()
   sub3_ = nh_.subscribe("current_velocity", 1, &LaneSelectNode::callbackFromTwistStamped, this);
   sub4_ = nh_.subscribe("state", 1, &LaneSelectNode::callbackFromState, this);
   sub5_ = nh_.subscribe("/config/lane_select", 1, &LaneSelectNode::callbackFromConfig, this);
-  sub6_ = nh_.subscribe("/decisionmaker/states", 1, &LaneSelectNode::callbackFromStates, this);
+  sub6_ = nh_.subscribe("/decision_maker/state", 1, &LaneSelectNode::callbackFromDecisionMakerState, this);
 
-  bool enablePlannerDynamicSwitch;
-  private_nh_.param<bool>("enablePlannerDynamicSwitch", enablePlannerDynamicSwitch, false);
   // setup publisher
 
   pub1_ = nh_.advertise<autoware_msgs::Lane>("base_waypoints", 1);
-
-  if (enablePlannerDynamicSwitch)
-  {
-    pub2_ = nh_.advertise<std_msgs::Int32>("/astar/closest_waypoint", 1);
-  }
-  else
-  {
-    pub2_ = nh_.advertise<std_msgs::Int32>("closest_waypoint", 1);
-  }
+  pub2_ = nh_.advertise<std_msgs::Int32>("closest_waypoint", 1);
 
   pub3_ = nh_.advertise<std_msgs::Int32>("change_flag", 1);
-  pub4_ = nh_.advertise<std_msgs::Int32>("/current_lane_id",1);
+  pub4_ = nh_.advertise<std_msgs::Int32>("/current_lane_id", 1);
+  pub5_ = nh_.advertise<autoware_msgs::VehicleLocation>("vehicle_location", 1);
 
   vis_pub1_ = nh_.advertise<visualization_msgs::MarkerArray>("lane_select_marker", 1);
 
@@ -98,6 +90,7 @@ void LaneSelectNode::initForLaneSelect()
   if (!getClosestWaypointNumberForEachLanes())
   {
     publishClosestWaypoint(-1);
+    publishVehicleLocation(-1, lane_array_id_);
     resetLaneIdx();
     return;
   }
@@ -110,6 +103,7 @@ void LaneSelectNode::initForLaneSelect()
   publishLane(std::get<0>(tuple_vec_.at(current_lane_idx_)));
   publishClosestWaypoint(std::get<1>(tuple_vec_.at(current_lane_idx_)));
   publishChangeFlag(std::get<2>(tuple_vec_.at(current_lane_idx_)));
+  publishVehicleLocation(std::get<1>(tuple_vec_.at(current_lane_idx_)), lane_array_id_);
   publishVisualizer();
 
   resetSubscriptionFlag();
@@ -140,6 +134,7 @@ void LaneSelectNode::processing()
   if (!getClosestWaypointNumberForEachLanes())
   {
     publishClosestWaypoint(-1);
+    publishVehicleLocation(-1, lane_array_id_);
     resetLaneIdx();
     return;
   }
@@ -148,6 +143,7 @@ void LaneSelectNode::processing()
   if (std::get<1>(tuple_vec_.at(current_lane_idx_)) == -1)
   {
     publishClosestWaypoint(-1);
+    publishVehicleLocation(-1, lane_array_id_);
     resetLaneIdx();
     return;
   }
@@ -172,6 +168,7 @@ void LaneSelectNode::processing()
       publishLaneID(std::get<0>(lane_for_change_));
       publishClosestWaypoint(std::get<1>(lane_for_change_));
       publishChangeFlag(std::get<2>(lane_for_change_));
+      publishVehicleLocation(std::get<1>(lane_for_change_), lane_array_id_);
     }
     catch (std::out_of_range)
     {
@@ -186,6 +183,7 @@ void LaneSelectNode::processing()
     publishLane(std::get<0>(tuple_vec_.at(current_lane_idx_)));
     publishClosestWaypoint(std::get<1>(tuple_vec_.at(current_lane_idx_)));
     publishChangeFlag(std::get<2>(tuple_vec_.at(current_lane_idx_)));
+    publishVehicleLocation(std::get<1>(tuple_vec_.at(current_lane_idx_)), lane_array_id_);
   }
   publishVisualizer();
   resetSubscriptionFlag();
@@ -618,6 +616,15 @@ void LaneSelectNode::publishChangeFlag(const ChangeFlag flag)
   pub3_.publish(change_flag);
 }
 
+void LaneSelectNode::publishVehicleLocation(const int32_t clst_wp, const int32_t larray_id)
+{
+  autoware_msgs::VehicleLocation vehicle_location;
+  vehicle_location.header.stamp = ros::Time::now();
+  vehicle_location.waypoint_index = clst_wp;
+  vehicle_location.lane_array_id = larray_id;
+  pub5_.publish(vehicle_location);
+}
+
 void LaneSelectNode::callbackFromLaneArray(const autoware_msgs::LaneArrayConstPtr &msg)
 {
   tuple_vec_.clear();
@@ -629,6 +636,7 @@ void LaneSelectNode::callbackFromLaneArray(const autoware_msgs::LaneArrayConstPt
     tuple_vec_.push_back(t);
   }
 
+  lane_array_id_ = msg->id;
   current_lane_idx_ = -1;
   right_lane_idx_ = -1;
   left_lane_idx_ = -1;
@@ -672,18 +680,18 @@ void LaneSelectNode::callbackFromState(const std_msgs::StringConstPtr &msg)
   else
     processing();
 }
-void LaneSelectNode::callbackFromStates(const autoware_msgs::StateConstPtr &msg)
+void LaneSelectNode::callbackFromDecisionMakerState(const std_msgs::StringConstPtr &msg)
 {
   is_current_state_subscribed_ = true;
 
-  if (msg->behavior_state.find("LaneChange") != std::string::npos)
+  if (msg->data.find("ChangeTo") != std::string::npos)
   {
     current_state_ = std::string("LANE_CHANGE");
     ;
   }
   else
   {
-    current_state_ = msg->main_state;
+    current_state_ = msg->data;
   }
 
   if (current_lane_idx_ == -1)
diff --git a/ros/src/computing/planning/mission/packages/lane_planner/package.xml b/ros/src/computing/planning/mission/packages/lane_planner/package.xml
index 049d98bc192..670488976b7 100644
--- a/ros/src/computing/planning/mission/packages/lane_planner/package.xml
+++ b/ros/src/computing/planning/mission/packages/lane_planner/package.xml
@@ -15,6 +15,8 @@
     <build_depend>vector_map</build_depend>
     <build_depend>gnss</build_depend>
     <build_depend>autoware_msgs</build_depend>
+    <build_depend>rostest</build_depend>
+    <build_depend>rosunit</build_depend>
 
     <run_depend>roscpp</run_depend>
     <run_depend>std_msgs</run_depend>
diff --git a/ros/src/computing/planning/mission/packages/lane_planner/test/src/test_lane_select.cpp b/ros/src/computing/planning/mission/packages/lane_planner/test/src/test_lane_select.cpp
new file mode 100644
index 00000000000..1a436889160
--- /dev/null
+++ b/ros/src/computing/planning/mission/packages/lane_planner/test/src/test_lane_select.cpp
@@ -0,0 +1,77 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <gtest/gtest.h>
+#include <ros/ros.h>
+
+#include "test_lane_select.hpp"
+
+namespace lane_planner {
+
+class LaneSelectTestSuite : public ::testing::Test {
+public:
+  LaneSelectTestSuite() {}
+  ~LaneSelectTestSuite() {}
+
+  LaneSelectTestClass test_obj_;
+
+protected:
+  virtual void SetUp() { test_obj_.lsn = new LaneSelectNode(); };
+  virtual void TearDown() { delete test_obj_.lsn; };
+};
+
+TEST_F(LaneSelectTestSuite, publishVehicleLocation) {
+  ASSERT_EQ(test_obj_.vehicle_location_sub.getNumPublishers(), 1U)
+      << "No publisher exist!";
+
+  test_obj_.publishTrafficWaypointsArray();
+  test_obj_.publishCurrentPose(-0.5, 0.0, 0.0);
+  test_obj_.publishCurrentVelocity(0);
+  ros::spinOnce();
+  ros::WallDuration(0.1).sleep();
+  test_obj_.lsnSpinOnce();
+  ros::WallDuration(0.1).sleep();
+  ros::spinOnce();
+
+  ASSERT_EQ(0, test_obj_.cb_vehicle_location.waypoint_index)
+      << "Waypoint index does not match."
+      << "It should be -1";
+  ASSERT_EQ(test_obj_.lane_array_id_,
+            test_obj_.cb_vehicle_location.lane_array_id)
+      << "LaneArray id does not match."
+      << "It should be " << test_obj_.lane_array_id_;
+
+  test_obj_.publishCurrentPose(0.5, 0.0, 0.0);
+  test_obj_.publishCurrentVelocity(0);
+  ros::spinOnce();
+  ros::WallDuration(0.1).sleep();
+  test_obj_.lsnSpinOnce();
+  ros::WallDuration(0.1).sleep();
+  ros::spinOnce();
+
+  ASSERT_EQ(1, test_obj_.cb_vehicle_location.waypoint_index)
+      << "Waypoint index does not match."
+      << "It should be 1";
+}
+
+} // namespace lane_planner
+
+int main(int argc, char **argv) {
+  testing::InitGoogleTest(&argc, argv);
+  ros::init(argc, argv, "LaneSelectTestNode");
+  ros::NodeHandle nh;
+  return RUN_ALL_TESTS();
+}
diff --git a/ros/src/computing/planning/mission/packages/lane_planner/test/src/test_lane_select.hpp b/ros/src/computing/planning/mission/packages/lane_planner/test/src/test_lane_select.hpp
new file mode 100644
index 00000000000..e9329d953da
--- /dev/null
+++ b/ros/src/computing/planning/mission/packages/lane_planner/test/src/test_lane_select.hpp
@@ -0,0 +1,99 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <gtest/gtest.h>
+#include <ros/connection_manager.h>
+#include <ros/ros.h>
+
+#include "lane_select_core.h"
+
+namespace lane_planner {
+
+class LaneSelectTestClass {
+public:
+  LaneSelectTestClass() {}
+
+  LaneSelectNode *lsn;
+  autoware_msgs::VehicleLocation cb_vehicle_location;
+
+  ros::NodeHandle nh;
+  ros::Publisher traffic_waypoints_array_pub =
+      nh.advertise<autoware_msgs::LaneArray>("/traffic_waypoints_array", 0);
+  ros::Publisher current_pose_pub =
+      nh.advertise<geometry_msgs::PoseStamped>("/current_pose", 0);
+  ros::Publisher current_velocity_pub =
+      nh.advertise<geometry_msgs::TwistStamped>("/current_velocity", 0);
+  ros::Subscriber vehicle_location_sub =
+      nh.subscribe("/vehicle_location", 1,
+                   &LaneSelectTestClass::vehicleLocationCallback, this);
+
+  int32_t lane_array_id_ = 6587651;
+
+  void accessPublishVehicleLocation(int32_t clst_wp, int32_t larray_id) {
+    lsn->publishVehicleLocation(clst_wp, larray_id);
+  }
+
+  void publishTrafficWaypointsArray() {
+    autoware_msgs::LaneArray pub_msg;
+    autoware_msgs::Lane pub_lane;
+    for (int idx = 0; idx < 100; idx++) {
+      static autoware_msgs::Waypoint wp;
+      wp.gid = idx;
+      wp.lid = idx;
+      wp.pose.pose.position.x = 0.0 + (double)idx;
+      wp.pose.pose.position.y = 0.0;
+      wp.pose.pose.position.z = 0.0;
+      wp.twist.twist.linear.x = 5.0;
+      wp.twist.twist.angular.z = 0.0;
+
+      tf::Quaternion quaternion = tf::createQuaternionFromRPY(0, 0, 0);
+      quaternionTFToMsg(quaternion, wp.pose.pose.orientation);
+
+      pub_lane.waypoints.push_back(wp);
+    }
+    pub_msg.lanes.push_back(pub_lane);
+    pub_msg.id = lane_array_id_;
+
+    traffic_waypoints_array_pub.publish(pub_msg);
+  }
+
+  void publishCurrentPose(double x, double y, double yaw) {
+    geometry_msgs::PoseStamped pose;
+    pose.pose.position.x = x;
+    pose.pose.position.y = y;
+    tf::Quaternion quaternion = tf::createQuaternionFromRPY(0, 0, yaw);
+    quaternionTFToMsg(quaternion, pose.pose.orientation);
+    current_pose_pub.publish(pose);
+  }
+
+  void publishCurrentVelocity(double vel) {
+    geometry_msgs::TwistStamped twist;
+    twist.twist.linear.x = vel;
+    current_velocity_pub.publish(twist);
+  }
+
+  void
+  vehicleLocationCallback(const autoware_msgs::VehicleLocationConstPtr &msg) {
+    cb_vehicle_location = *msg;
+    std::cout << "vehicleLocationCallback: "
+              << cb_vehicle_location.waypoint_index << ", "
+              << cb_vehicle_location.lane_array_id << std::endl;
+  }
+
+  void lsnSpinOnce() { lsn->spinOnce(); }
+};
+
+} // namespace lane_planner
diff --git a/ros/src/computing/planning/mission/packages/lane_planner/test/test_lane_select.test b/ros/src/computing/planning/mission/packages/lane_planner/test/test_lane_select.test
new file mode 100644
index 00000000000..2be86cb506b
--- /dev/null
+++ b/ros/src/computing/planning/mission/packages/lane_planner/test/test_lane_select.test
@@ -0,0 +1,5 @@
+<launch>
+
+  <test test-name="test-lane_select" pkg="lane_planner" type="test-lane_select" name="test"/>
+
+</launch>
diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/CMakeLists.txt b/ros/src/computing/planning/motion/packages/waypoint_follower/CMakeLists.txt
index 22a26efe0b6..04a1d371f11 100644
--- a/ros/src/computing/planning/motion/packages/waypoint_follower/CMakeLists.txt
+++ b/ros/src/computing/planning/motion/packages/waypoint_follower/CMakeLists.txt
@@ -21,6 +21,8 @@ find_package(catkin REQUIRED COMPONENTS
         autoware_config_msgs
         tablet_socket_msgs
         autoware_health_checker
+        rostest
+        rosunit
         )
 
 ################################################
@@ -54,6 +56,7 @@ SET(CMAKE_CXX_FLAGS "-O2 -g -Wall ${CMAKE_CXX_FLAGS}")
 
 include_directories(
         include
+        include/twist_gate
         ${autoware_config_msgs_INCLUDE_DIRS}
         ${autoware_msgs_INCLUDE_DIRS}
         ${tablet_socket_msgs_INCLUDE_DIRS}
@@ -84,7 +87,7 @@ target_link_libraries(twist_filter ${catkin_LIBRARIES})
 add_dependencies(twist_filter
         ${catkin_EXPORTED_TARGETS})
 
-add_executable(twist_gate nodes/twist_gate/twist_gate.cpp)
+add_executable(twist_gate nodes/twist_gate/twist_gate_node.cpp nodes/twist_gate/twist_gate.cpp)
 target_link_libraries(twist_gate ${catkin_LIBRARIES})
 add_dependencies(twist_gate
         ${catkin_EXPORTED_TARGETS})
@@ -102,3 +105,16 @@ install(DIRECTORY include/${PROJECT_NAME}/
 install(DIRECTORY launch/
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
         PATTERN ".svn" EXCLUDE)
+
+if (CATKIN_ENABLE_TESTING)
+    find_package(rostest REQUIRED)
+    add_rostest_gtest(test-twist_gate
+      test/test_twist_gate.test
+      test/src/test_twist_gate.cpp
+      nodes/twist_gate/twist_gate.cpp
+    )
+    add_dependencies(test-twist_gate
+      ${catkin_EXPORTED_TARGETS})
+    target_link_libraries(test-twist_gate
+      ${catkin_LIBRARIES})
+endif ()
diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/include/twist_gate/twist_gate.h b/ros/src/computing/planning/motion/packages/waypoint_follower/include/twist_gate/twist_gate.h
new file mode 100644
index 00000000000..638504cf6cc
--- /dev/null
+++ b/ros/src/computing/planning/motion/packages/waypoint_follower/include/twist_gate/twist_gate.h
@@ -0,0 +1,110 @@
+/*
+ * Copyright 2015-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TWIST_GATE_H
+#define TWIST_GATE_H
+
+#include <string>
+#include <iostream>
+#include <map>
+#include <thread>
+#include <memory>
+
+#include <geometry_msgs/TwistStamped.h>
+#include <ros/ros.h>
+#include <std_msgs/Bool.h>
+#include <std_msgs/Int32.h>
+#include <std_msgs/String.h>
+
+#include "autoware_msgs/ControlCommandStamped.h"
+#include "autoware_msgs/RemoteCmd.h"
+#include "autoware_msgs/VehicleCmd.h"
+
+#include "tablet_socket_msgs/gear_cmd.h"
+#include "tablet_socket_msgs/mode_cmd.h"
+
+//headers in Autowae Health Checker
+#include <autoware_health_checker/node_status_publisher.h>
+
+#define CMD_GEAR_D 1
+#define CMD_GEAR_R 2
+#define CMD_GEAR_B 3
+#define CMD_GEAR_N 4
+#define CMD_GEAR_P 5
+
+class TwistGate
+{
+  using remote_msgs_t = autoware_msgs::RemoteCmd;
+  using vehicle_cmd_msg_t = autoware_msgs::VehicleCmd;
+
+  friend class TwistGateTestClass;
+
+public:
+  TwistGate(const ros::NodeHandle& nh, const ros::NodeHandle& private_nh);
+  ~TwistGate();
+
+private:
+  void check_state();
+  void watchdog_timer();
+  void remote_cmd_callback(const remote_msgs_t::ConstPtr& input_msg);
+  void auto_cmd_twist_cmd_callback(const geometry_msgs::TwistStamped::ConstPtr& input_msg);
+  void mode_cmd_callback(const tablet_socket_msgs::mode_cmd::ConstPtr& input_msg);
+  void gear_cmd_callback(const tablet_socket_msgs::gear_cmd::ConstPtr& input_msg);
+  void accel_cmd_callback(const autoware_msgs::AccelCmd::ConstPtr& input_msg);
+  void steer_cmd_callback(const autoware_msgs::SteerCmd::ConstPtr& input_msg);
+  void brake_cmd_callback(const autoware_msgs::BrakeCmd::ConstPtr& input_msg);
+  void lamp_cmd_callback(const autoware_msgs::LampCmd::ConstPtr& input_msg);
+  void ctrl_cmd_callback(const autoware_msgs::ControlCommandStamped::ConstPtr& input_msg);
+  void state_callback(const std_msgs::StringConstPtr& input_msg);
+
+  bool is_using_decisionmaker();
+  void reset_vehicle_cmd_msg();
+
+  // spinOnce for test
+  void spinOnce(){ ros::spinOnce(); }
+
+  ros::NodeHandle nh_;
+  ros::NodeHandle private_nh_;
+  std::shared_ptr<autoware_health_checker::NodeStatusPublisher> node_status_pub_ptr_;
+  ros::Publisher emergency_stop_pub_;
+  ros::Publisher control_command_pub_;
+  ros::Publisher vehicle_cmd_pub_;
+  ros::Publisher state_cmd_pub_;
+  ros::Subscriber remote_cmd_sub_;
+  std::map<std::string, ros::Subscriber> auto_cmd_sub_stdmap_;
+
+  vehicle_cmd_msg_t twist_gate_msg_;
+  std_msgs::Bool emergency_stop_msg_;
+  ros::Time remote_cmd_time_;
+  ros::Duration timeout_period_;
+
+  std::thread watchdog_timer_thread_;
+  bool is_alive;
+
+  enum class CommandMode
+  {
+    AUTO = 1,
+    REMOTE = 2
+  } command_mode_,
+      previous_command_mode_;
+  std_msgs::String command_mode_topic_;
+
+  bool is_state_drive_ = true;
+  // still send is true
+  bool send_emergency_cmd = false;
+};
+
+#endif  // TWIST_GATE_H
diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp
index 341bd4d1731..e423a17db85 100644
--- a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp
+++ b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp
@@ -28,87 +28,22 @@
  *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#include <iostream>
-#include <thread>
+#include "twist_gate.h"
+
 #include <chrono>
-#include <map>
-#include <memory>
-
-#include <ros/ros.h>
-#include <std_msgs/Int32.h>
-#include <std_msgs/Bool.h>
-#include <std_msgs/String.h>
-#include <geometry_msgs/TwistStamped.h>
-
-#include "autoware_msgs/RemoteCmd.h"
-#include "autoware_msgs/VehicleCmd.h"
-#include "tablet_socket_msgs/mode_cmd.h"
-#include "tablet_socket_msgs/gear_cmd.h"
-#include "autoware_msgs/AccelCmd.h"
-#include "autoware_msgs/BrakeCmd.h"
-#include "autoware_msgs/SteerCmd.h"
-#include "autoware_msgs/ControlCommandStamped.h"
-
-//headers in Autowae Health Checker
-#include <autoware_health_checker/node_status_publisher.h>
-
-class TwistGate
-{
-  using remote_msgs_t = autoware_msgs::RemoteCmd;
-  using vehicle_cmd_msg_t = autoware_msgs::VehicleCmd;
-
-  public:
-    TwistGate(const ros::NodeHandle& nh, const ros::NodeHandle& private_nh);
-    ~TwistGate();
-  private:
-    void watchdog_timer();
-    void remote_cmd_callback(const remote_msgs_t::ConstPtr& input_msg);
-    void auto_cmd_twist_cmd_callback(const geometry_msgs::TwistStamped::ConstPtr& input_msg);
-    void mode_cmd_callback(const tablet_socket_msgs::mode_cmd::ConstPtr& input_msg);
-    void gear_cmd_callback(const tablet_socket_msgs::gear_cmd::ConstPtr& input_msg);
-    void accel_cmd_callback(const autoware_msgs::AccelCmd::ConstPtr& input_msg);
-    void steer_cmd_callback(const autoware_msgs::SteerCmd::ConstPtr& input_msg);
-    void brake_cmd_callback(const autoware_msgs::BrakeCmd::ConstPtr& input_msg);
-    void lamp_cmd_callback(const autoware_msgs::LampCmd::ConstPtr& input_msg);
-    void ctrl_cmd_callback(const autoware_msgs::ControlCommandStamped::ConstPtr& input_msg);
-
-    void reset_vehicle_cmd_msg();
-
-    ros::NodeHandle nh_;
-    ros::NodeHandle private_nh_;
-    std::shared_ptr<autoware_health_checker::NodeStatusPublisher> node_status_pub_ptr_;
-    ros::Publisher emergency_stop_pub_;
-    ros::Publisher control_command_pub_;
-    ros::Publisher vehicle_cmd_pub_;
-    ros::Publisher state_cmd_pub_;
-    ros::Subscriber remote_cmd_sub_;
-    std::map<std::string , ros::Subscriber> auto_cmd_sub_stdmap_;
-
-    vehicle_cmd_msg_t twist_gate_msg_;
-    std_msgs::Bool emergency_stop_msg_;
-    ros::Time remote_cmd_time_;
-    ros::Duration timeout_period_;
-
-    std::thread watchdog_timer_thread_;
-    enum class CommandMode{AUTO=1, REMOTE=2} command_mode_, previous_command_mode_;
-    std_msgs::String command_mode_topic_;
-
-    // still send is true
-    bool send_emergency_cmd = false;
-};
-
-TwistGate::TwistGate(const ros::NodeHandle& nh, const ros::NodeHandle& private_nh) :
-     nh_(nh)
-    ,private_nh_(private_nh)
-    ,timeout_period_(1.0)
-    ,command_mode_(CommandMode::AUTO)
-    ,previous_command_mode_(CommandMode::AUTO)
+
+TwistGate::TwistGate(const ros::NodeHandle& nh, const ros::NodeHandle& private_nh)
+  : nh_(nh)
+  , private_nh_(private_nh)
+  , timeout_period_(1.0)
+  , command_mode_(CommandMode::AUTO)
+  , previous_command_mode_(CommandMode::AUTO)
 {
   node_status_pub_ptr_ = std::make_shared<autoware_health_checker::NodeStatusPublisher>(nh_,private_nh_);
   emergency_stop_pub_ = nh_.advertise<std_msgs::Bool>("/emergency_stop", 1, true);
   control_command_pub_ = nh_.advertise<std_msgs::String>("/ctrl_mode", 1);
   vehicle_cmd_pub_ = nh_.advertise<vehicle_cmd_msg_t>("/vehicle_cmd", 1, true);
-  state_cmd_pub_ = nh_.advertise<std_msgs::Int32>("/state_cmd", 1, true);
+  state_cmd_pub_ = nh_.advertise<std_msgs::String>("/state_cmd", 1, true);
 
   remote_cmd_sub_ = nh_.subscribe("/remote_cmd", 1, &TwistGate::remote_cmd_callback, this);
 
@@ -120,6 +55,7 @@ TwistGate::TwistGate(const ros::NodeHandle& nh, const ros::NodeHandle& private_n
   auto_cmd_sub_stdmap_["brake_cmd"] = nh_.subscribe("/brake_cmd", 1, &TwistGate::brake_cmd_callback, this);
   auto_cmd_sub_stdmap_["lamp_cmd"] = nh_.subscribe("/lamp_cmd", 1, &TwistGate::lamp_cmd_callback, this);
   auto_cmd_sub_stdmap_["ctrl_cmd"] = nh_.subscribe("/ctrl_cmd", 1, &TwistGate::ctrl_cmd_callback, this);
+  auto_cmd_sub_stdmap_["state"] = nh_.subscribe("/decision_maker/state", 1, &TwistGate::state_callback, this);
 
   twist_gate_msg_.header.seq = 0;
   emergency_stop_msg_.data = false;
@@ -128,44 +64,76 @@ TwistGate::TwistGate(const ros::NodeHandle& nh, const ros::NodeHandle& private_n
 
   remote_cmd_time_ = ros::Time::now();
   watchdog_timer_thread_ = std::thread(&TwistGate::watchdog_timer, this);
-  watchdog_timer_thread_.detach();
+  is_alive = true;
 }
 
 TwistGate::~TwistGate()
 {
+  is_alive = false;
+  watchdog_timer_thread_.join();
 }
 
 void TwistGate::reset_vehicle_cmd_msg()
 {
-  twist_gate_msg_.twist_cmd.twist.linear.x  = 0;
+  twist_gate_msg_.twist_cmd.twist.linear.x = 0;
   twist_gate_msg_.twist_cmd.twist.angular.z = 0;
-  twist_gate_msg_.mode                      = 0;
-  twist_gate_msg_.gear                      = 0;
-  twist_gate_msg_.lamp_cmd.l                = 0;
-  twist_gate_msg_.lamp_cmd.r                = 0;
-  twist_gate_msg_.accel_cmd.accel           = 0;
-  twist_gate_msg_.brake_cmd.brake           = 0;
-  twist_gate_msg_.steer_cmd.steer           = 0;
-  twist_gate_msg_.ctrl_cmd.linear_velocity  = -1;
-  twist_gate_msg_.ctrl_cmd.steering_angle   = 0;
+  twist_gate_msg_.mode = 0;
+  twist_gate_msg_.gear = 0;
+  twist_gate_msg_.lamp_cmd.l = 0;
+  twist_gate_msg_.lamp_cmd.r = 0;
+  twist_gate_msg_.accel_cmd.accel = 0;
+  twist_gate_msg_.brake_cmd.brake = 0;
+  twist_gate_msg_.steer_cmd.steer = 0;
+  twist_gate_msg_.ctrl_cmd.linear_velocity = -1;
+  twist_gate_msg_.ctrl_cmd.steering_angle = 0;
+}
+
+bool TwistGate::is_using_decisionmaker()
+{
+  bool using_decision_maker_flag = false;
+  std::vector<std::string> node_list;
+  ros::master::getNodes(node_list);
+
+  for (const auto& i : node_list)
+  {
+    if (i == "/decision_maker")
+    {
+      using_decision_maker_flag = true;
+      break;
+    }
+  }
+  return using_decision_maker_flag;
+}
+
+void TwistGate::check_state()
+{
+  if (is_using_decisionmaker() && !is_state_drive_)
+  {
+    twist_gate_msg_.twist_cmd.twist = geometry_msgs::Twist();
+    twist_gate_msg_.ctrl_cmd = autoware_msgs::ControlCommand();
+  }
 }
 
 void TwistGate::watchdog_timer()
 {
-  while(1)
+  while (is_alive)
   {
     ros::Time now_time = ros::Time::now();
     bool emergency_flag = false;
 
     // check command mode
-    if(previous_command_mode_ != command_mode_) {
-      if(command_mode_ == CommandMode::AUTO) {
+    if (previous_command_mode_ != command_mode_)
+    {
+      if (command_mode_ == CommandMode::AUTO)
+      {
         command_mode_topic_.data = "AUTO";
       }
-      else if(command_mode_ == CommandMode::REMOTE) {
+      else if (command_mode_ == CommandMode::REMOTE)
+      {
         command_mode_topic_.data = "REMOTE";
       }
-      else{
+      else
+      {
         command_mode_topic_.data = "UNDEFINED";
       }
 
@@ -174,34 +142,39 @@ void TwistGate::watchdog_timer()
     }
 
     // if lost Communication
-    if(command_mode_ == CommandMode::REMOTE && now_time - remote_cmd_time_ >  timeout_period_) {
+    if (command_mode_ == CommandMode::REMOTE && now_time - remote_cmd_time_ > timeout_period_)
+    {
       emergency_flag = true;
       ROS_WARN("Lost Communication!");
     }
 
     // if push emergency stop button
-    if(emergency_stop_msg_.data == true)
+    if (emergency_stop_msg_.data == true)
     {
       emergency_flag = true;
       ROS_WARN("Emergency Mode!");
     }
 
     // Emergency
-    if(emergency_flag) {
+    if (emergency_flag)
+    {
       // Change Auto Mode
       command_mode_ = CommandMode::AUTO;
-      if(send_emergency_cmd == false) {
+      if (send_emergency_cmd == false)
+      {
         // Change State to Stop
-        std_msgs::Int32 state_cmd;
-        state_cmd.data = 14;
+        std_msgs::String state_cmd;
+        state_cmd.data = "emergency";
         state_cmd_pub_.publish(state_cmd);
         send_emergency_cmd = true;
       }
       // Set Emergency Stop
-      emergency_stop_msg_.data = true;
       emergency_stop_pub_.publish(emergency_stop_msg_);
       ROS_WARN("Emergency Stop!");
     }
+    else {
+      send_emergency_cmd = false;
+    }
 
     std::this_thread::sleep_for(std::chrono::milliseconds(10));
   }
@@ -209,24 +182,26 @@ void TwistGate::watchdog_timer()
 
 void TwistGate::remote_cmd_callback(const remote_msgs_t::ConstPtr& input_msg)
 {
+  remote_cmd_time_ = ros::Time::now();
   command_mode_ = static_cast<CommandMode>(input_msg->control_mode);
   emergency_stop_msg_.data = static_cast<bool>(input_msg->vehicle_cmd.emergency);
-  remote_cmd_time_ = ros::Time::now();
 
-  if(command_mode_ == CommandMode::REMOTE)
+  // Update Emergency Mode
+  twist_gate_msg_.emergency = input_msg->vehicle_cmd.emergency;
+
+  if (command_mode_ == CommandMode::REMOTE && emergency_stop_msg_.data == false)
   {
     twist_gate_msg_.header.frame_id = input_msg->vehicle_cmd.header.frame_id;
     twist_gate_msg_.header.stamp = input_msg->vehicle_cmd.header.stamp;
     twist_gate_msg_.header.seq++;
     twist_gate_msg_.twist_cmd.twist = input_msg->vehicle_cmd.twist_cmd.twist;
-    twist_gate_msg_.ctrl_cmd  = input_msg->vehicle_cmd.ctrl_cmd;
+    twist_gate_msg_.ctrl_cmd = input_msg->vehicle_cmd.ctrl_cmd;
     twist_gate_msg_.accel_cmd = input_msg->vehicle_cmd.accel_cmd;
     twist_gate_msg_.brake_cmd = input_msg->vehicle_cmd.brake_cmd;
     twist_gate_msg_.steer_cmd = input_msg->vehicle_cmd.steer_cmd;
     twist_gate_msg_.gear = input_msg->vehicle_cmd.gear;
     twist_gate_msg_.lamp_cmd = input_msg->vehicle_cmd.lamp_cmd;
     twist_gate_msg_.mode = input_msg->vehicle_cmd.mode;
-    twist_gate_msg_.emergency = input_msg->vehicle_cmd.emergency;
     vehicle_cmd_pub_.publish(twist_gate_msg_);
   }
 }
@@ -241,16 +216,19 @@ void TwistGate::auto_cmd_twist_cmd_callback(const geometry_msgs::TwistStamped::C
     twist_gate_msg_.header.stamp = input_msg->header.stamp;
     twist_gate_msg_.header.seq++;
     twist_gate_msg_.twist_cmd.twist = input_msg->twist;
+
+    check_state();
     vehicle_cmd_pub_.publish(twist_gate_msg_);
   }
 }
 
 void TwistGate::mode_cmd_callback(const tablet_socket_msgs::mode_cmd::ConstPtr& input_msg)
 {
-  if(command_mode_ == CommandMode::AUTO)
+  if (command_mode_ == CommandMode::AUTO)
   {
-    //TODO:check this if statement
-    if(input_msg->mode == -1 || input_msg->mode == 0){
+    // TODO:check this if statement
+    if (input_msg->mode == -1 || input_msg->mode == 0)
+    {
       reset_vehicle_cmd_msg();
     }
     twist_gate_msg_.header.frame_id = input_msg->header.frame_id;
@@ -263,7 +241,7 @@ void TwistGate::mode_cmd_callback(const tablet_socket_msgs::mode_cmd::ConstPtr&
 
 void TwistGate::gear_cmd_callback(const tablet_socket_msgs::gear_cmd::ConstPtr& input_msg)
 {
-  if(command_mode_ == CommandMode::AUTO)
+  if (command_mode_ == CommandMode::AUTO)
   {
     twist_gate_msg_.gear = input_msg->gear;
     vehicle_cmd_pub_.publish(twist_gate_msg_);
@@ -272,7 +250,7 @@ void TwistGate::gear_cmd_callback(const tablet_socket_msgs::gear_cmd::ConstPtr&
 
 void TwistGate::accel_cmd_callback(const autoware_msgs::AccelCmd::ConstPtr& input_msg)
 {
-  if(command_mode_ == CommandMode::AUTO)
+  if (command_mode_ == CommandMode::AUTO)
   {
     twist_gate_msg_.header.frame_id = input_msg->header.frame_id;
     twist_gate_msg_.header.stamp = input_msg->header.stamp;
@@ -284,7 +262,7 @@ void TwistGate::accel_cmd_callback(const autoware_msgs::AccelCmd::ConstPtr& inpu
 
 void TwistGate::steer_cmd_callback(const autoware_msgs::SteerCmd::ConstPtr& input_msg)
 {
-  if(command_mode_ == CommandMode::AUTO)
+  if (command_mode_ == CommandMode::AUTO)
   {
     twist_gate_msg_.header.frame_id = input_msg->header.frame_id;
     twist_gate_msg_.header.stamp = input_msg->header.stamp;
@@ -296,7 +274,7 @@ void TwistGate::steer_cmd_callback(const autoware_msgs::SteerCmd::ConstPtr& inpu
 
 void TwistGate::brake_cmd_callback(const autoware_msgs::BrakeCmd::ConstPtr& input_msg)
 {
-  if(command_mode_ == CommandMode::AUTO)
+  if (command_mode_ == CommandMode::AUTO)
   {
     twist_gate_msg_.header.frame_id = input_msg->header.frame_id;
     twist_gate_msg_.header.stamp = input_msg->header.stamp;
@@ -308,7 +286,7 @@ void TwistGate::brake_cmd_callback(const autoware_msgs::BrakeCmd::ConstPtr& inpu
 
 void TwistGate::lamp_cmd_callback(const autoware_msgs::LampCmd::ConstPtr& input_msg)
 {
-  if(command_mode_ == CommandMode::AUTO)
+  if (command_mode_ == CommandMode::AUTO)
   {
     twist_gate_msg_.header.frame_id = input_msg->header.frame_id;
     twist_gate_msg_.header.stamp = input_msg->header.stamp;
@@ -321,25 +299,49 @@ void TwistGate::lamp_cmd_callback(const autoware_msgs::LampCmd::ConstPtr& input_
 
 void TwistGate::ctrl_cmd_callback(const autoware_msgs::ControlCommandStamped::ConstPtr& input_msg)
 {
-  if(command_mode_ == CommandMode::AUTO)
+  if (command_mode_ == CommandMode::AUTO)
   {
     twist_gate_msg_.header.frame_id = input_msg->header.frame_id;
     twist_gate_msg_.header.stamp = input_msg->header.stamp;
     twist_gate_msg_.header.seq++;
     twist_gate_msg_.ctrl_cmd = input_msg->cmd;
+
+    check_state();
     vehicle_cmd_pub_.publish(twist_gate_msg_);
   }
 }
 
-
-int main(int argc, char** argv)
+void TwistGate::state_callback(const std_msgs::StringConstPtr& input_msg)
 {
-  ros::init(argc, argv, "twist_gate");
-  ros::NodeHandle nh;
-  ros::NodeHandle private_nh("~");
+  if (command_mode_ == CommandMode::AUTO)
+  {
+    // Set Parking Gear
+    if (input_msg->data.find("WaitOrder") != std::string::npos)
+    {
+      twist_gate_msg_.gear = CMD_GEAR_P;
+    }
+    // Set Drive Gear
+    else
+    {
+      twist_gate_msg_.gear = CMD_GEAR_D;
+    }
 
-  TwistGate twist_gate(nh, private_nh);
+    // get drive state
+    if (input_msg->data.find("Drive\n") != std::string::npos && input_msg->data.find("VehicleReady\n") != std::string::npos)
+    {
+      is_state_drive_ = true;
+    }
+    else
+    {
+      is_state_drive_ = false;
+    }
+    vehicle_cmd_pub_.publish(twist_gate_msg_);
 
-  ros::spin();
-  return 0;
+    // reset emergency flags
+    if (input_msg->data.find("VehicleReady") != std::string::npos)
+    {
+      emergency_stop_msg_.data = false;
+      send_emergency_cmd = false;
+    }
+  }
 }
diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate_node.cpp b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate_node.cpp
new file mode 100644
index 00000000000..3d0de518742
--- /dev/null
+++ b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate_node.cpp
@@ -0,0 +1,33 @@
+/*
+ * Copyright 2015-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+// ROS Includes
+#include <ros/ros.h>
+
+// User defined includes
+#include "twist_gate.h"
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "twist_gate");
+  ros::NodeHandle nh;
+  ros::NodeHandle private_nh("~");
+
+  TwistGate twist_gate(nh, private_nh);
+
+  ros::spin();
+  return 0;
+}
diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/wf_simulator/wf_simulator.cpp b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/wf_simulator/wf_simulator.cpp
index f4d8a8b593a..7ced485d649 100644
--- a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/wf_simulator/wf_simulator.cpp
+++ b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/wf_simulator/wf_simulator.cpp
@@ -14,19 +14,19 @@
  * limitations under the License.
  */
 
+#include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/PoseWithCovarianceStamped.h>
 #include <ros/ros.h>
+#include <std_msgs/Int32.h>
 #include <std_msgs/String.h>
-#include <geometry_msgs/PoseWithCovarianceStamped.h>
-#include <geometry_msgs/PoseStamped.h>
+#include <tf/tf.h>
 #include <tf/transform_broadcaster.h>
 #include <tf/transform_listener.h>
-#include <tf/tf.h>
 #include <iostream>
-#include <std_msgs/Int32.h>
 #include <random>
 
+#include "autoware_msgs/VehicleCmd.h"
 #include "waypoint_follower/libwaypoint_follower.h"
-#include "autoware_msgs/ControlCommandStamped.h"
 
 namespace
 {
@@ -57,46 +57,42 @@ double wheel_base_ = 2.7;
 
 constexpr int LOOP_RATE = 50;  // 50Hz
 
-void CmdCallBack(const geometry_msgs::TwistStampedConstPtr& msg, double accel_rate)
+void CmdCallBack(const autoware_msgs::VehicleCmdConstPtr& msg, double accel_rate)
 {
   if (use_ctrl_cmd == true)
-    return;
-
-  static double previous_linear_velocity = 0;
-
-  if (current_velocity_.linear.x < msg->twist.linear.x)
   {
-    current_velocity_.linear.x = previous_linear_velocity + accel_rate / (double)LOOP_RATE;
-
-    if (current_velocity_.linear.x > msg->twist.linear.x)
-    {
-      current_velocity_.linear.x = msg->twist.linear.x;
-    }
+    linear_acceleration_ = msg->ctrl_cmd.linear_acceleration;
+    steering_angle_ = msg->ctrl_cmd.steering_angle;
   }
   else
   {
-    current_velocity_.linear.x = previous_linear_velocity - accel_rate / (double)LOOP_RATE;
+    static double previous_linear_velocity = 0;
 
-    if (current_velocity_.linear.x < msg->twist.linear.x)
+    if (current_velocity_.linear.x < msg->twist_cmd.twist.linear.x)
     {
-      current_velocity_.linear.x = msg->twist.linear.x;
-    }
-  }
+      current_velocity_.linear.x = previous_linear_velocity + accel_rate / (double)LOOP_RATE;
 
-  previous_linear_velocity = current_velocity_.linear.x;
+      if (current_velocity_.linear.x > msg->twist_cmd.twist.linear.x)
+      {
+        current_velocity_.linear.x = msg->twist_cmd.twist.linear.x;
+      }
+    }
+    else
+    {
+      current_velocity_.linear.x = previous_linear_velocity - accel_rate / (double)LOOP_RATE;
 
-  current_velocity_.angular.z = msg->twist.angular.z;
+      if (current_velocity_.linear.x < msg->twist_cmd.twist.linear.x)
+      {
+        current_velocity_.linear.x = msg->twist_cmd.twist.linear.x;
+      }
+    }
 
-  //current_velocity_ = msg->twist;
-}
+    previous_linear_velocity = current_velocity_.linear.x;
 
-void controlCmdCallBack(const autoware_msgs::ControlCommandStampedConstPtr& msg)
-{
-  if (use_ctrl_cmd == false)
-    return;
+    current_velocity_.angular.z = msg->twist_cmd.twist.angular.z;
 
-  linear_acceleration_ = msg->cmd.linear_acceleration;
-  steering_angle_ = msg->cmd.steering_angle;
+    //current_velocity_ = msg->twist;
+  }
 }
 
 void getTransformFromTF(const std::string parent_frame, const std::string child_frame, tf::StampedTransform& transform)
@@ -274,8 +270,7 @@ int main(int argc, char** argv)
 
   // subscribe topic
   ros::Subscriber cmd_subscriber =
-      nh.subscribe<geometry_msgs::TwistStamped>("twist_cmd", 10, boost::bind(CmdCallBack, _1, accel_rate));
-  ros::Subscriber control_cmd_subscriber = nh.subscribe("ctrl_cmd", 10, controlCmdCallBack);
+      nh.subscribe<autoware_msgs::VehicleCmd>("vehicle_cmd", 10, boost::bind(CmdCallBack, _1, accel_rate));
   ros::Subscriber waypoint_subcscriber = nh.subscribe("base_waypoints", 10, waypointCallback);
   ros::Subscriber closest_sub = nh.subscribe("closest_waypoint", 10, callbackFromClosestWaypoint);
   ros::Subscriber initialpose_subscriber;
diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/package.xml b/ros/src/computing/planning/motion/packages/waypoint_follower/package.xml
index a937b85dfc4..617d93a9ccd 100644
--- a/ros/src/computing/planning/motion/packages/waypoint_follower/package.xml
+++ b/ros/src/computing/planning/motion/packages/waypoint_follower/package.xml
@@ -19,6 +19,8 @@
     <build_depend>sensor_msgs</build_depend>
     <build_depend>tablet_socket_msgs</build_depend>
     <build_depend>autoware_health_checker</build_depend>
+    <build_depend>rostest</build_depend>
+    <build_depend>rosunit</build_depend>
 
     <run_depend>roscpp</run_depend>
     <run_depend>std_msgs</run_depend>
diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/test/src/test_twist_gate.cpp b/ros/src/computing/planning/motion/packages/waypoint_follower/test/src/test_twist_gate.cpp
new file mode 100644
index 00000000000..b44db543eda
--- /dev/null
+++ b/ros/src/computing/planning/motion/packages/waypoint_follower/test/src/test_twist_gate.cpp
@@ -0,0 +1,267 @@
+/*
+ * Copyright 2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <gtest/gtest.h>
+#include <ros/ros.h>
+
+#include "test_twist_gate.hpp"
+
+class TwistGateTestSuite : public ::testing::Test {
+public:
+  TwistGateTestSuite() {}
+  ~TwistGateTestSuite() {}
+
+  TwistGateTestClass test_obj_;
+
+protected:
+  virtual void SetUp() {
+    ros::NodeHandle nh;
+    ros::NodeHandle private_nh("~");
+    test_obj_.tg = new TwistGate(nh, private_nh);
+  };
+  virtual void TearDown() { delete test_obj_.tg; };
+};
+
+TEST_F(TwistGateTestSuite, resetVehicelCmd) {
+  double d_value = 1.5;
+  int i_value = 1;
+
+  autoware_msgs::VehicleCmd msg = test_obj_.setTgTwistGateMsg(d_value, i_value);
+
+  ASSERT_EQ(d_value, msg.twist_cmd.twist.linear.x);
+  ASSERT_EQ(d_value, msg.twist_cmd.twist.angular.z);
+  ASSERT_EQ(i_value, msg.mode);
+  ASSERT_EQ(i_value, msg.gear);
+  ASSERT_EQ(i_value, msg.lamp_cmd.l);
+  ASSERT_EQ(i_value, msg.lamp_cmd.r);
+  ASSERT_EQ(i_value, msg.accel_cmd.accel);
+  ASSERT_EQ(i_value, msg.brake_cmd.brake);
+  ASSERT_EQ(i_value, msg.steer_cmd.steer);
+  ASSERT_EQ(i_value, msg.ctrl_cmd.linear_velocity);
+  ASSERT_EQ(i_value, msg.ctrl_cmd.steering_angle);
+
+  test_obj_.tgResetVehicleCmdMsg();
+  msg = test_obj_.getTgTwistGateMsg();
+
+  ASSERT_EQ(0, msg.twist_cmd.twist.linear.x);
+  ASSERT_EQ(0, msg.twist_cmd.twist.angular.z);
+  ASSERT_EQ(0, msg.mode);
+  ASSERT_EQ(0, msg.gear);
+  ASSERT_EQ(0, msg.lamp_cmd.l);
+  ASSERT_EQ(0, msg.lamp_cmd.r);
+  ASSERT_EQ(0, msg.accel_cmd.accel);
+  ASSERT_EQ(0, msg.brake_cmd.brake);
+  ASSERT_EQ(0, msg.steer_cmd.steer);
+  ASSERT_EQ(-1, msg.ctrl_cmd.linear_velocity);
+  ASSERT_EQ(0, msg.ctrl_cmd.steering_angle);
+}
+
+TEST_F(TwistGateTestSuite, twistCmdCallback) {
+  double linear_x = 5.0;
+  double angular_z = 1.5;
+  test_obj_.publishTwistCmd(linear_x, angular_z);
+  ros::WallDuration(0.1).sleep();
+  test_obj_.tgSpinOnce();
+  ros::WallDuration(0.1).sleep();
+  ros::spinOnce();
+
+  ASSERT_EQ(linear_x, test_obj_.cb_vehicle_cmd.twist_cmd.twist.linear.x);
+  ASSERT_EQ(angular_z, test_obj_.cb_vehicle_cmd.twist_cmd.twist.angular.z);
+}
+
+TEST_F(TwistGateTestSuite, controlCmdCallback) {
+  double linear_vel = 5.0;
+  double linear_acc = 1.5;
+  double steer_angle = 1.57;
+  test_obj_.publishControlCmd(linear_vel, linear_acc, steer_angle);
+  ros::WallDuration(0.1).sleep();
+  test_obj_.tgSpinOnce();
+  ros::WallDuration(0.1).sleep();
+  ros::spinOnce();
+
+  ASSERT_EQ(linear_vel, test_obj_.cb_vehicle_cmd.ctrl_cmd.linear_velocity);
+  ASSERT_EQ(linear_acc, test_obj_.cb_vehicle_cmd.ctrl_cmd.linear_acceleration);
+  ASSERT_EQ(steer_angle, test_obj_.cb_vehicle_cmd.ctrl_cmd.steering_angle);
+}
+
+TEST_F(TwistGateTestSuite, remoteCmdCallback) {
+  autoware_msgs::RemoteCmd remote_cmd;
+  remote_cmd.vehicle_cmd.header.frame_id = "/test_frame";
+  remote_cmd.vehicle_cmd.header.stamp = ros::Time::now();
+  remote_cmd.vehicle_cmd.twist_cmd.twist.linear.x = 5.0;
+  remote_cmd.vehicle_cmd.twist_cmd.twist.angular.z = 0.785;
+  remote_cmd.vehicle_cmd.ctrl_cmd.linear_velocity = 4.0;
+  remote_cmd.vehicle_cmd.ctrl_cmd.linear_acceleration = 3.0;
+  remote_cmd.vehicle_cmd.ctrl_cmd.steering_angle = 0.393;
+  remote_cmd.vehicle_cmd.accel_cmd.accel = 10;
+  remote_cmd.vehicle_cmd.brake_cmd.brake = 20;
+  remote_cmd.vehicle_cmd.steer_cmd.steer = 30;
+  remote_cmd.vehicle_cmd.gear = CMD_GEAR_P;
+  remote_cmd.vehicle_cmd.lamp_cmd.l = 1;
+  remote_cmd.vehicle_cmd.lamp_cmd.r = 1;
+  remote_cmd.vehicle_cmd.mode = 6;
+  remote_cmd.vehicle_cmd.emergency = 0;
+  remote_cmd.control_mode = 2;
+
+  test_obj_.publishRemoteCmd(remote_cmd);
+  ros::WallDuration(0.1).sleep();
+  test_obj_.tgSpinOnce();
+  ros::WallDuration(0.1).sleep();
+  ros::spinOnce();
+
+  ASSERT_EQ(remote_cmd.vehicle_cmd.header.frame_id
+      , test_obj_.cb_vehicle_cmd.header.frame_id);
+  ASSERT_EQ(remote_cmd.vehicle_cmd.header.stamp
+      , test_obj_.cb_vehicle_cmd.header.stamp);
+  ASSERT_EQ(remote_cmd.vehicle_cmd.twist_cmd.twist.linear.x
+      , test_obj_.cb_vehicle_cmd.twist_cmd.twist.linear.x);
+  ASSERT_EQ(remote_cmd.vehicle_cmd.twist_cmd.twist.angular.z
+      , test_obj_.cb_vehicle_cmd.twist_cmd.twist.angular.z);
+  ASSERT_EQ(remote_cmd.vehicle_cmd.ctrl_cmd.linear_velocity
+      , test_obj_.cb_vehicle_cmd.ctrl_cmd.linear_velocity);
+  ASSERT_EQ(remote_cmd.vehicle_cmd.ctrl_cmd.linear_acceleration
+      , test_obj_.cb_vehicle_cmd.ctrl_cmd.linear_acceleration);
+  ASSERT_EQ(remote_cmd.vehicle_cmd.ctrl_cmd.steering_angle
+      , test_obj_.cb_vehicle_cmd.ctrl_cmd.steering_angle);
+  ASSERT_EQ(remote_cmd.vehicle_cmd.accel_cmd.accel
+      , test_obj_.cb_vehicle_cmd.accel_cmd.accel);
+  ASSERT_EQ(remote_cmd.vehicle_cmd.brake_cmd.brake
+      , test_obj_.cb_vehicle_cmd.brake_cmd.brake);
+  ASSERT_EQ(remote_cmd.vehicle_cmd.steer_cmd.steer
+      , test_obj_.cb_vehicle_cmd.steer_cmd.steer);
+  ASSERT_EQ(remote_cmd.vehicle_cmd.gear
+      , test_obj_.cb_vehicle_cmd.gear);
+  ASSERT_EQ(remote_cmd.vehicle_cmd.lamp_cmd.l
+      , test_obj_.cb_vehicle_cmd.lamp_cmd.l);
+  ASSERT_EQ(remote_cmd.vehicle_cmd.lamp_cmd.r
+      , test_obj_.cb_vehicle_cmd.lamp_cmd.r);
+  ASSERT_EQ(remote_cmd.vehicle_cmd.mode
+      , test_obj_.cb_vehicle_cmd.mode);
+}
+
+
+TEST_F(TwistGateTestSuite, remoteCmdEmergency) {
+  autoware_msgs::RemoteCmd remote_cmd;
+  remote_cmd.vehicle_cmd.emergency = 1;
+
+  test_obj_.publishRemoteCmd(remote_cmd);
+  ros::WallDuration(0.1).sleep();
+  test_obj_.tgSpinOnce();
+  ros::WallDuration(0.1).sleep();
+  ros::spinOnce();
+
+  ASSERT_EQ("emergency", test_obj_.cb_state_cmd.data);
+}
+
+TEST_F(TwistGateTestSuite, modeCmdCallback) {
+  int mode = 8;
+
+  test_obj_.publishModeCmd(mode);
+  ros::WallDuration(0.1).sleep();
+  test_obj_.tgSpinOnce();
+  ros::WallDuration(0.1).sleep();
+  ros::spinOnce();
+
+  ASSERT_EQ(mode, test_obj_.cb_vehicle_cmd.mode);
+}
+
+TEST_F(TwistGateTestSuite, gearCmdCallback) {
+  int gear = CMD_GEAR_D;
+
+  test_obj_.publishGearCmd(gear);
+  ros::WallDuration(0.1).sleep();
+  test_obj_.tgSpinOnce();
+  ros::WallDuration(0.1).sleep();
+  ros::spinOnce();
+
+  ASSERT_EQ(gear, test_obj_.cb_vehicle_cmd.gear);
+}
+
+TEST_F(TwistGateTestSuite, accelCmdCallback) {
+  int accel = 100;
+
+  test_obj_.publishAccelCmd(accel);
+  ros::WallDuration(0.1).sleep();
+  test_obj_.tgSpinOnce();
+  ros::WallDuration(0.1).sleep();
+  ros::spinOnce();
+
+  ASSERT_EQ(accel, test_obj_.cb_vehicle_cmd.accel_cmd.accel);
+}
+
+TEST_F(TwistGateTestSuite, steerCmdCallback) {
+  int steer = 100;
+
+  test_obj_.publishSteerCmd(steer);
+  ros::WallDuration(0.1).sleep();
+  test_obj_.tgSpinOnce();
+  ros::WallDuration(0.1).sleep();
+  ros::spinOnce();
+
+  ASSERT_EQ(steer, test_obj_.cb_vehicle_cmd.steer_cmd.steer);
+}
+
+TEST_F(TwistGateTestSuite, brakeCmdCallback) {
+  int brake = 100;
+
+  test_obj_.publishBrakeCmd(brake);
+  ros::WallDuration(0.1).sleep();
+  test_obj_.tgSpinOnce();
+  ros::WallDuration(0.1).sleep();
+  ros::spinOnce();
+
+  ASSERT_EQ(brake, test_obj_.cb_vehicle_cmd.brake_cmd.brake);
+}
+
+TEST_F(TwistGateTestSuite, lampCmdCallback) {
+  int lamp_l = 1;
+  int lamp_r = 1;
+
+  test_obj_.publishLampCmd(lamp_l, lamp_r);
+  ros::WallDuration(0.1).sleep();
+  test_obj_.tgSpinOnce();
+  ros::WallDuration(0.1).sleep();
+  ros::spinOnce();
+
+  ASSERT_EQ(lamp_l, test_obj_.cb_vehicle_cmd.lamp_cmd.l);
+  ASSERT_EQ(lamp_r, test_obj_.cb_vehicle_cmd.lamp_cmd.r);
+}
+
+TEST_F(TwistGateTestSuite, stateCallback) {
+  test_obj_.publishDecisionMakerState("VehicleReady\nWaitOrder\nWaitEngage\n");
+  test_obj_.tgSpinOnce();
+  ros::WallDuration(0.1).sleep();
+  ros::spinOnce();
+
+  autoware_msgs::VehicleCmd tg_msg = test_obj_.getTwistGateMsg();
+  ASSERT_EQ(CMD_GEAR_P, tg_msg.gear);
+  ASSERT_EQ(false, test_obj_.getIsStateDriveFlag());
+
+  test_obj_.publishDecisionMakerState("VehicleReady\nDriving\nDrive\n");
+  test_obj_.tgSpinOnce();
+  ros::WallDuration(0.1).sleep();
+  ros::spinOnce();
+
+  tg_msg = test_obj_.getTwistGateMsg();
+  ASSERT_EQ(CMD_GEAR_D, tg_msg.gear);
+  ASSERT_EQ(true, test_obj_.getIsStateDriveFlag());
+}
+
+int main(int argc, char **argv) {
+  testing::InitGoogleTest(&argc, argv);
+  ros::init(argc, argv, "TwistGateTestNode");
+  return RUN_ALL_TESTS();
+}
diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/test/src/test_twist_gate.hpp b/ros/src/computing/planning/motion/packages/waypoint_follower/test/src/test_twist_gate.hpp
new file mode 100644
index 00000000000..1874af9bdf6
--- /dev/null
+++ b/ros/src/computing/planning/motion/packages/waypoint_follower/test/src/test_twist_gate.hpp
@@ -0,0 +1,165 @@
+/*
+ * Copyright 2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <gtest/gtest.h>
+#include <ros/ros.h>
+
+#include "twist_gate.h"
+
+class TwistGateTestClass {
+public:
+  TwistGateTestClass() {
+    twist_cmd_publisher =
+        nh.advertise<geometry_msgs::TwistStamped>("twist_cmd", 0);
+    control_cmd_publisher =
+        nh.advertise<autoware_msgs::ControlCommandStamped>("ctrl_cmd", 0);
+    decision_maker_state_publisher =
+        nh.advertise<std_msgs::String>("decision_maker/state", 0);
+    remote_cmd_publisher = nh.advertise<autoware_msgs::RemoteCmd>("remote_cmd", 0);
+    mode_cmd_publisher = nh.advertise<tablet_socket_msgs::mode_cmd>("mode_cmd", 0);
+    gear_cmd_publisher = nh.advertise<tablet_socket_msgs::gear_cmd>("gear_cmd", 0);
+    accel_cmd_publisher = nh.advertise<autoware_msgs::AccelCmd>("accel_cmd", 0);
+    steer_cmd_publisher = nh.advertise<autoware_msgs::SteerCmd>("steer_cmd", 0);
+    brake_cmd_publisher = nh.advertise<autoware_msgs::BrakeCmd>("brake_cmd", 0);
+    lamp_cmd_publisher = nh.advertise<autoware_msgs::LampCmd>("lamp_cmd", 0);
+    vehicle_cmd_subscriber = nh.subscribe(
+        "/vehicle_cmd", 1, &TwistGateTestClass::vehicleCmdCallback, this);
+    state_cmd_subscriber = nh.subscribe(
+        "/state_cmd", 1, &TwistGateTestClass::stateCmdCallback, this);
+  }
+
+  TwistGate *tg;
+  autoware_msgs::VehicleCmd cb_vehicle_cmd;
+  std_msgs::String cb_state_cmd;
+
+  ros::NodeHandle nh;
+  ros::Publisher twist_cmd_publisher, control_cmd_publisher, remote_cmd_publisher, mode_cmd_publisher, gear_cmd_publisher, accel_cmd_publisher, steer_cmd_publisher, brake_cmd_publisher, lamp_cmd_publisher, decision_maker_state_publisher;
+  ros::Subscriber vehicle_cmd_subscriber, state_cmd_subscriber;
+
+  void tgSpinOnce() { tg->spinOnce(); }
+
+  void tgResetVehicleCmdMsg() { tg->reset_vehicle_cmd_msg(); }
+
+  autoware_msgs::VehicleCmd setTgTwistGateMsg(double d_value, int i_value) {
+    tg->twist_gate_msg_.twist_cmd.twist.linear.x = d_value;
+    tg->twist_gate_msg_.twist_cmd.twist.angular.z = d_value;
+    tg->twist_gate_msg_.mode = i_value;
+    tg->twist_gate_msg_.gear = i_value;
+    tg->twist_gate_msg_.lamp_cmd.l = i_value;
+    tg->twist_gate_msg_.lamp_cmd.r = i_value;
+    tg->twist_gate_msg_.accel_cmd.accel = i_value;
+    tg->twist_gate_msg_.brake_cmd.brake = i_value;
+    tg->twist_gate_msg_.steer_cmd.steer = i_value;
+    tg->twist_gate_msg_.ctrl_cmd.linear_velocity = i_value;
+    tg->twist_gate_msg_.ctrl_cmd.steering_angle = i_value;
+
+    return tg->twist_gate_msg_;
+  }
+
+  autoware_msgs::VehicleCmd getTgTwistGateMsg() {return tg->twist_gate_msg_;}
+
+  void publishTwistCmd(double linear_x, double angular_z) {
+    geometry_msgs::TwistStamped msg;
+    msg.header.stamp = ros::Time::now();
+    msg.twist.linear.x = linear_x;
+    msg.twist.angular.z = angular_z;
+
+    twist_cmd_publisher.publish(msg);
+  }
+
+  void publishControlCmd(double linear_vel, double linear_acc,
+                         double steer_angle) {
+    autoware_msgs::ControlCommandStamped msg;
+    msg.header.stamp = ros::Time::now();
+    msg.cmd.linear_velocity = linear_vel;
+    msg.cmd.linear_acceleration = linear_acc;
+    msg.cmd.steering_angle = steer_angle;
+
+    control_cmd_publisher.publish(msg);
+  }
+
+  void publishRemoteCmd(autoware_msgs::RemoteCmd remote_cmd){
+    remote_cmd_publisher.publish(remote_cmd);
+  }
+
+  void publishModeCmd(int mode){
+    tablet_socket_msgs::mode_cmd msg;
+    msg.header.stamp = ros::Time::now();
+    msg.mode = mode;
+
+    mode_cmd_publisher.publish(msg);
+  }
+
+  void publishGearCmd(int gear){
+    tablet_socket_msgs::gear_cmd msg;
+    msg.header.stamp = ros::Time::now();
+    msg.gear = gear;
+
+    gear_cmd_publisher.publish(msg);
+  }
+
+  void publishAccelCmd(int accel){
+    autoware_msgs::AccelCmd msg;
+    msg.header.stamp = ros::Time::now();
+    msg.accel = accel;
+
+    accel_cmd_publisher.publish(msg);
+  }
+
+  void publishSteerCmd(int steer){
+    autoware_msgs::SteerCmd msg;
+    msg.header.stamp = ros::Time::now();
+    msg.steer = steer;
+
+    steer_cmd_publisher.publish(msg);
+  }
+
+  void publishBrakeCmd(int brake){
+    autoware_msgs::BrakeCmd msg;
+    msg.header.stamp = ros::Time::now();
+    msg.brake = brake;
+
+    brake_cmd_publisher.publish(msg);
+  }
+
+  void publishLampCmd(int lamp_l, int lamp_r){
+    autoware_msgs::LampCmd msg;
+    msg.header.stamp = ros::Time::now();
+    msg.l = lamp_l;
+    msg.r = lamp_r;
+
+    lamp_cmd_publisher.publish(msg);
+  }
+
+  void publishDecisionMakerState(std::string states) {
+    std_msgs::String msg;
+    msg.data = states;
+
+    decision_maker_state_publisher.publish(msg);
+  }
+
+  void vehicleCmdCallback(autoware_msgs::VehicleCmd msg) {
+    cb_vehicle_cmd = msg;
+  }
+
+  void stateCmdCallback(std_msgs::String msg) {
+    cb_state_cmd = msg;
+  }
+
+  autoware_msgs::VehicleCmd getTwistGateMsg() { return tg->twist_gate_msg_; }
+
+  bool getIsStateDriveFlag() { return tg->is_state_drive_; }
+};
diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/test/test_twist_gate.test b/ros/src/computing/planning/motion/packages/waypoint_follower/test/test_twist_gate.test
new file mode 100644
index 00000000000..118e2b7c494
--- /dev/null
+++ b/ros/src/computing/planning/motion/packages/waypoint_follower/test/test_twist_gate.test
@@ -0,0 +1,5 @@
+<launch>
+
+  <test test-name="test-twist_gate" pkg="waypoint_follower" type="test-twist_gate" name="test"/>
+
+</launch>
diff --git a/ros/src/msgs/autoware_config_msgs/msg/ConfigDecisionMaker.msg b/ros/src/msgs/autoware_config_msgs/msg/ConfigDecisionMaker.msg
index e5290e2e18c..96a933e35c9 100644
--- a/ros/src/msgs/autoware_config_msgs/msg/ConfigDecisionMaker.msg
+++ b/ros/src/msgs/autoware_config_msgs/msg/ConfigDecisionMaker.msg
@@ -1,19 +1,11 @@
 Header header
-bool enable_force_state_change
-bool enable_display_marker
-float64 convergence_threshold
-uint32 convergence_count
-uint32 target_waypoint
-uint32 stopline_target_waypoint
-float64 stopline_target_ratio
-float64 shift_width
-
-float64 crawl_velocity
-float64 detection_area_rate
-
-string baselink_tf
-
-float64 detection_area_x1
-float64 detection_area_x2
-float64 detection_area_y1
-float64 detection_area_y2
\ No newline at end of file
+bool auto_mission_reload
+bool auto_engage
+bool auto_mission_change
+bool use_fms
+bool disuse_vector_map
+uint32 num_of_steer_behind
+float64 change_threshold_dist
+float64 change_threshold_angle
+float64 goal_threshold_dist
+float64 goal_threshold_vel
diff --git a/ros/src/msgs/autoware_msgs/CMakeLists.txt b/ros/src/msgs/autoware_msgs/CMakeLists.txt
index 5c61791943d..d2e9d5637f3 100644
--- a/ros/src/msgs/autoware_msgs/CMakeLists.txt
+++ b/ros/src/msgs/autoware_msgs/CMakeLists.txt
@@ -49,6 +49,7 @@ add_message_files(
             Waypoint.msg
             WaypointState.msg
             VehicleCmd.msg
+            VehicleLocation.msg
             VehicleStatus.msg
             TrafficLightResult.msg
             TrafficLightResultArray.msg
diff --git a/ros/src/msgs/autoware_msgs/msg/LaneArray.msg b/ros/src/msgs/autoware_msgs/msg/LaneArray.msg
index be8d1f04390..302bdedb692 100644
--- a/ros/src/msgs/autoware_msgs/msg/LaneArray.msg
+++ b/ros/src/msgs/autoware_msgs/msg/LaneArray.msg
@@ -1 +1,2 @@
-Lane[] lanes
\ No newline at end of file
+int32 id
+Lane[] lanes
diff --git a/ros/src/msgs/autoware_msgs/msg/State.msg b/ros/src/msgs/autoware_msgs/msg/State.msg
index 9d8efedadd9..3ea56136f51 100644
--- a/ros/src/msgs/autoware_msgs/msg/State.msg
+++ b/ros/src/msgs/autoware_msgs/msg/State.msg
@@ -1,5 +1,4 @@
 Header header
-string main_state
-string acc_state
-string str_state
-string behavior_state
+string vehicle_state
+string mission_state
+string drive_state
diff --git a/ros/src/msgs/autoware_msgs/msg/VehicleLocation.msg b/ros/src/msgs/autoware_msgs/msg/VehicleLocation.msg
new file mode 100644
index 00000000000..c7a5135ec3e
--- /dev/null
+++ b/ros/src/msgs/autoware_msgs/msg/VehicleLocation.msg
@@ -0,0 +1,3 @@
+Header header
+int32 lane_array_id
+int32 waypoint_index
diff --git a/ros/src/msgs/lgsvl_msgs b/ros/src/msgs/lgsvl_msgs
index a80edfbd988..da97879fb78 160000
--- a/ros/src/msgs/lgsvl_msgs
+++ b/ros/src/msgs/lgsvl_msgs
@@ -1 +1 @@
-Subproject commit a80edfbd9880379af8a5e8dc0a90d6432494c9cd
+Subproject commit da97879fb78e1df3b84a60572d90faa6aea4189b
diff --git a/ros/src/sensing/drivers/lidar/packages/ouster b/ros/src/sensing/drivers/lidar/packages/ouster
index e21ef1b8b01..ac1dbaef89b 160000
--- a/ros/src/sensing/drivers/lidar/packages/ouster
+++ b/ros/src/sensing/drivers/lidar/packages/ouster
@@ -1 +1 @@
-Subproject commit e21ef1b8b0133dbb17b074a64a434d60e2dcc2b6
+Subproject commit ac1dbaef89b8e1464642f362af6593f67a42af7b
diff --git a/ros/src/sensing/drivers/lidar/packages/robosense b/ros/src/sensing/drivers/lidar/packages/robosense
index 4a284cc1ba5..038e5f65243 160000
--- a/ros/src/sensing/drivers/lidar/packages/robosense
+++ b/ros/src/sensing/drivers/lidar/packages/robosense
@@ -1 +1 @@
-Subproject commit 4a284cc1ba595a7ad0679c2e5978975189a33d51
+Subproject commit 038e5f6524305d0d287805fdc9029872627ac7de
diff --git a/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/CMakeLists.txt b/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/CMakeLists.txt
new file mode 100644
index 00000000000..6d452f2d0d2
--- /dev/null
+++ b/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/CMakeLists.txt
@@ -0,0 +1,73 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(decision_maker_panel)
+
+
+find_package(autoware_build_flags REQUIRED)
+find_package(catkin REQUIRED COMPONENTS
+  rviz
+  std_msgs
+	autoware_msgs
+)
+
+if(rviz_QT_VERSION VERSION_LESS "5")
+  message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
+  find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui)
+  ## pull in all required include dirs, define QT_LIBRARIES, etc.
+  include(${QT_USE_FILE})
+else()
+  message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
+  find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
+  ## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies
+  set(QT_LIBRARIES Qt5::Widgets)
+endif()
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES state_rviz_plugins
+#  CATKIN_DEPENDS rviz std_msgs
+  DEPENDS rviz
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+SET(CMAKE_CXX_FLAGS "-O2 -g -Wall -Wno-unused-result -DROS ${CMAKE_CXX_FLAGS}")
+
+
+add_definitions(-DQT_NO_KEYWORDS -g)
+
+set(CMAKE_AUTOMOC ON)
+set(SOURCE_FILES
+  src/decision_maker_panel.cpp
+  )
+
+add_library(decision_maker_panel ${SOURCE_FILES} ${UIC_FILES})
+target_link_libraries(decision_maker_panel ${QT_LIBRARIES} ${catkin_LIBRARIES} ${rviz_DEFAULT_PLUGIN_LIBRARIES})
+
+## Install rules
+
+install(TARGETS
+  ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(FILES plugin_description.xml
+      DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/package.xml b/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/package.xml
new file mode 100644
index 00000000000..b32f95e2a5a
--- /dev/null
+++ b/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/package.xml
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<package>
+    <name>decision_maker_panel</name>
+    <version>1.10.0</version>
+    <description>The decision_maker_panel package</description>
+
+    <maintainer email="azumi.suzuki@tier4.jp">Azumi Suzuki</maintainer>
+    <author>Yusuke FUJII</author>
+    <author>h_ohta</author>
+
+    <license>Apache 2</license>
+
+    <buildtool_depend>catkin</buildtool_depend>
+    <buildtool_depend>autoware_build_flags</buildtool_depend>
+    <build_depend>rviz</build_depend>
+    <build_depend>std_msgs</build_depend>
+    <build_depend>autoware_msgs</build_depend>
+    <build_depend>qtbase5-dev</build_depend>
+
+    <run_depend>rviz</run_depend>
+    <run_depend>std_msgs</run_depend>
+    <run_depend>autoware_msgs</run_depend>
+    <run_depend>libqt5-core</run_depend>
+    <run_depend>libqt5-widgets</run_depend>
+
+    <export>
+        <rviz plugin="${prefix}/plugin_description.xml"/>
+    </export>
+</package>
diff --git a/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/plugin_description.xml b/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/plugin_description.xml
new file mode 100644
index 00000000000..9feeb6bbcdf
--- /dev/null
+++ b/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/plugin_description.xml
@@ -0,0 +1,9 @@
+<library path="lib/libdecision_maker_panel">
+    <class name="autoware_rviz_debug/DecisionMakerPanel"
+           type="autoware_rviz_debug::DecisionMakerPanel"
+           base_class_type="rviz::Panel">
+        <description>
+          A panel widget to order state_cmd for decision_maekr.
+        </description>
+    </class>
+</library>
diff --git a/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.cpp b/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.cpp
new file mode 100644
index 00000000000..e526342d89d
--- /dev/null
+++ b/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.cpp
@@ -0,0 +1,329 @@
+/*
+ * Copyright (c) 2018, TierIV Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <stdio.h>
+
+#include <QHBoxLayout>
+#include <QLabel>
+#include <QLineEdit>
+#include <QPainter>
+#include <QPushButton>
+#include <QSignalMapper>
+#include <QTimer>
+#include <QVBoxLayout>
+#include <QMap>
+
+#include <geometry_msgs/Twist.h>
+
+#include <std_msgs/Int32.h>
+#include <std_msgs/String.h>
+#include "autoware_msgs/RemoteCmd.h"
+#include "decision_maker_panel.h"
+
+namespace autoware_rviz_debug
+{
+// BEGIN_TUTORIAL
+// Here is the implementation of the DecisionMakerPanel class.  DecisionMakerPanel
+// has these responsibilities:
+//
+// - Act as a container for GUI elements DriveWidget and QLineEdit.
+// - Publish command velocities 10 times per second (whether 0 or not).
+// - Saving and restoring internal state from a config file.
+//
+// We start with the constructor, doing the standard Qt thing of
+// passing the optional *parent* argument on to the superclass
+// constructor, and also zero-ing the velocities we will be
+// publishing.
+
+class StateInfo
+{
+private:
+public:
+  uint64_t state_num_;
+  uint8_t state_category_;
+  std::string state_num_name_;
+  std::string state_category_name_;
+};
+
+DecisionMakerPanel::DecisionMakerPanel(QWidget* parent) : rviz::Panel(parent)
+{
+  statecmd_publisher_ = nh_.advertise<std_msgs::String>("/state_cmd", 1);
+  emergency_publisher_ = nh_.advertise<autoware_msgs::RemoteCmd>("/remote_cmd", 1);
+
+  // Next we lay out the "output topic" text entry field using a
+  // QLabel and a QLineEdit in a QHBoxLayout.
+  QGridLayout* label_layout = new QGridLayout;
+  label_layout->addWidget(new QLabel("DecisionMaker QuickOrder"), 0, 0);
+
+  QSignalMapper* signalMapper = new QSignalMapper(this);
+  connect(signalMapper, SIGNAL(mapped(QString)), this, SLOT(sendTopic(QString)));
+
+  QMap<QString, QPushButton*> buttons_def;
+  // main
+  buttons_def["engage"] = new QPushButton("\nEngage\n");
+  signalMapper->setMapping(buttons_def["engage"], QString("engage"));
+  buttons_def["stop"] = new QPushButton("\nStop\n");
+  signalMapper->setMapping(buttons_def["stop"], QString("found_obstacle_in_stopped_area"));
+  buttons_def["go"] = new QPushButton("\nGo\n");
+  signalMapper->setMapping(buttons_def["go"], QString("clear"));
+  // execute
+  buttons_def["execute_lane_change"] = new QPushButton("Execute \nLaneChange");
+  signalMapper->setMapping(buttons_def["execute_lane_change"], QString("execute_lane_change"));
+  // mission
+  buttons_def["request_mission_change"] = new QPushButton("Request \nmission change");
+  signalMapper->setMapping(buttons_def["request_mission_change"], QString("request_mission_change"));
+  buttons_def["return_to_driving"] = new QPushButton("Return \nto driving");
+  signalMapper->setMapping(buttons_def["return_to_driving"], QString("return_to_driving"));
+  buttons_def["mission_canceled"] = new QPushButton("Mission \ncancel");
+  signalMapper->setMapping(buttons_def["mission_canceled"], QString("mission_canceled"));
+  // emergency
+  buttons_def["emergency"] = new QPushButton("Emergency");
+  signalMapper->setMapping(buttons_def["emergency"], QString("emergency"));
+  buttons_def["return_from_emergency"] = new QPushButton("Return \nfrom emergency");
+  signalMapper->setMapping(buttons_def["return_from_emergency"], QString("return_from_emergency"));
+  buttons_def["return_to_ready"] = new QPushButton("Return \nto ready");
+  signalMapper->setMapping(buttons_def["return_to_ready"], QString("return_to_ready"));
+  // set options
+  QMap<QString, QPushButton*>::const_iterator i = buttons_def.constBegin();
+  QFont* q_font = new QFont("Arial", 11);
+  QSizePolicy* q_size_policy = new QSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
+  while (i != buttons_def.constEnd())
+  {
+    i.value()->setSizePolicy(*q_size_policy);
+    i.value()->setFont(*q_font);
+    connect(i.value(), SIGNAL(clicked()), signalMapper, SLOT(map()));
+    ++i;
+  }
+
+  QGridLayout* button_layout_main = new QGridLayout;
+  button_layout_main->addWidget(new QLabel("Main"), 0, 0);
+  button_layout_main->addWidget(buttons_def["engage"], 1, 0);
+  button_layout_main->addWidget(buttons_def["stop"], 1, 1);
+  button_layout_main->addWidget(buttons_def["go"], 1, 2);
+
+  QGridLayout* button_layout_execute = new QGridLayout;
+  button_layout_execute->addWidget(new QLabel("Execute"), 0, 0); button_layout_execute->addWidget(buttons_def["execute_lane_change"], 1, 0);
+
+  QGridLayout* button_layout_mission = new QGridLayout;
+  button_layout_mission->addWidget(new QLabel("Mission"), 0, 0);
+  button_layout_mission->addWidget(buttons_def["request_mission_change"], 1, 0);
+  button_layout_mission->addWidget(buttons_def["return_to_driving"], 1, 1);
+  button_layout_mission->addWidget(buttons_def["mission_canceled"], 1, 2);
+
+  QGridLayout* button_layout_emergency = new QGridLayout;
+  button_layout_emergency->addWidget(new QLabel("Emergency"), 0, 0);
+  button_layout_emergency->addWidget(buttons_def["emergency"], 1, 0);
+  button_layout_emergency->addWidget(buttons_def["return_from_emergency"], 1, 1);
+  button_layout_emergency->addWidget(buttons_def["return_to_ready"], 1, 2);
+
+
+  QMap<QString, QPushButton*> buttons_ext;
+  // state vehicle
+  buttons_ext["sensor_is_ready"] = new QPushButton("Sensor is ready");
+  signalMapper->setMapping(buttons_ext["sensor_is_ready"], QString("sensor_is_ready"));
+  buttons_ext["map_is_ready"] = new QPushButton("Map is ready");
+  signalMapper->setMapping(buttons_ext["map_is_ready"], QString("map_is_ready"));
+  buttons_ext["localization_is_ready"] = new QPushButton("Localization \nis ready");
+  signalMapper->setMapping(buttons_ext["localization_is_ready"], QString("localization_is_ready"));
+  buttons_ext["planning_is_ready"] = new QPushButton("Planning is ready");
+  signalMapper->setMapping(buttons_ext["planning_is_ready"], QString("planning_is_ready"));
+  buttons_ext["vehicle_is_ready"] = new QPushButton("Vehicle is ready");
+  signalMapper->setMapping(buttons_ext["vehicle_is_ready"], QString("vehicle_is_ready"));
+  // state mission
+  buttons_ext["received_mission_order"] = new QPushButton("Received mission order");
+  signalMapper->setMapping(buttons_ext["received_mission_order"], QString("received_mission_order"));
+  buttons_ext["mission_is_compatible"] = new QPushButton("Mission is compatible");
+  signalMapper->setMapping(buttons_ext["mission_is_compatible"], QString("mission_is_compatible"));
+  buttons_ext["mission_aborted"] = new QPushButton("Mission aborted");
+  signalMapper->setMapping(buttons_ext["mission_aborted"], QString("mission_aborted"));
+  buttons_ext["arrived_goal"] = new QPushButton("Arrived goal");
+  signalMapper->setMapping(buttons_ext["arrived_goal"], QString("arrived_goal"));
+  buttons_ext["request_mission_change"] = new QPushButton("Request mission change");
+  signalMapper->setMapping(buttons_ext["request_mission_change"], QString("request_mission_change"));
+  buttons_ext["mission_is_conflicting"] = new QPushButton("Mission is conflicting");
+  signalMapper->setMapping(buttons_ext["mission_is_conflicting"], QString("mission_is_conflicting"));
+  buttons_ext["return_to_driving"] = new QPushButton("Return to driving");
+  signalMapper->setMapping(buttons_ext["return_to_driving"], QString("return_to_driving"));
+  buttons_ext["goto_wait_order"] = new QPushButton("Go to WaitOrder");
+  signalMapper->setMapping(buttons_ext["goto_wait_order"], QString("goto_wait_order"));
+  // state drive
+  buttons_ext["operation_start"] = new QPushButton("Operation start");
+  signalMapper->setMapping(buttons_ext["operation_start"], QString("operation_start"));
+  buttons_ext["operation_end"] = new QPushButton("Operation end");
+  signalMapper->setMapping(buttons_ext["operation_end"], QString("operation_end"));
+  buttons_ext["on_lane_area"] = new QPushButton("Lane area");
+  signalMapper->setMapping(buttons_ext["on_lane_area"], QString("on_lane_area"));
+  buttons_ext["on_free_area"] = new QPushButton("Free area");
+  signalMapper->setMapping(buttons_ext["on_free_area"], QString("on_free_area"));
+  buttons_ext["on_cruise"] = new QPushButton("Cruise");
+  signalMapper->setMapping(buttons_ext["on_cruise"], QString("on_cruise"));
+  buttons_ext["on_bus_stop"] = new QPushButton("Bus stop");
+  signalMapper->setMapping(buttons_ext["on_bus_stop"], QString("on_bus_stop"));
+  buttons_ext["on_parking"] = new QPushButton("Parking");
+  signalMapper->setMapping(buttons_ext["on_parking"], QString("on_parking"));
+  buttons_ext["on_straight"] = new QPushButton("Straight");
+  signalMapper->setMapping(buttons_ext["on_straight"], QString("on_straight"));
+  buttons_ext["on_right_turn"] = new QPushButton("Right turn");
+  signalMapper->setMapping(buttons_ext["on_right_turn"], QString("on_right_turn"));
+  buttons_ext["on_left_turn"] = new QPushButton("Left turn");
+  signalMapper->setMapping(buttons_ext["on_left_turn"], QString("on_left_turn"));
+  buttons_ext["on_back"] = new QPushButton("Back");
+  signalMapper->setMapping(buttons_ext["on_back"], QString("on_back"));
+  buttons_ext["lane_change_right"] = new QPushButton("Lanechange Right");
+  signalMapper->setMapping(buttons_ext["lane_change_right"], QString("lane_change_right"));
+  buttons_ext["lane_change_left"] = new QPushButton("Lanechange Left");
+  signalMapper->setMapping(buttons_ext["lane_change_left"], QString("lane_change_left"));
+  buttons_ext["on_pull_over"] = new QPushButton("Pull over");
+  signalMapper->setMapping(buttons_ext["on_pull_over"], QString("on_pull_over"));
+  buttons_ext["on_pull_out"] = new QPushButton("Pull out");
+  signalMapper->setMapping(buttons_ext["on_pull_out"], QString("on_pull_out"));
+  // set options
+  QMap<QString, QPushButton*>::const_iterator j = buttons_ext.constBegin();
+  while (j != buttons_ext.constEnd())
+  {
+    j.value()->setSizePolicy(*q_size_policy);
+    j.value()->setFont(*q_font);
+    connect(j.value(), SIGNAL(clicked()), signalMapper, SLOT(map()));
+    ++j;
+  }
+
+  // state vehicle
+  QGridLayout* extra_layout_vehicle = new QGridLayout;
+  extra_layout_vehicle->addWidget(new QLabel("state Vehicle"), 0, 0);
+  extra_layout_vehicle->addWidget(buttons_ext["sensor_is_ready"], 1, 0);
+  extra_layout_vehicle->addWidget(buttons_ext["map_is_ready"], 1, 1);
+  extra_layout_vehicle->addWidget(buttons_ext["localization_is_ready"], 1, 2);
+  extra_layout_vehicle->addWidget(buttons_ext["planning_is_ready"], 2, 0);
+  extra_layout_vehicle->addWidget(buttons_ext["vehicle_is_ready"], 2, 1);
+  // state mission
+  QGridLayout* extra_layout_mission = new QGridLayout;
+  extra_layout_mission->addWidget(new QLabel("state Mission"), 0, 0);
+  extra_layout_mission->addWidget(buttons_ext["received_mission_order"],1, 0);
+  extra_layout_mission->addWidget(buttons_ext["mission_is_compatible"], 1, 1);
+  extra_layout_mission->addWidget(buttons_ext["mission_aborted"], 1, 2);
+  extra_layout_mission->addWidget(buttons_ext["arrived_goal"], 2, 0);
+  extra_layout_mission->addWidget(buttons_ext["request_mission_change"], 2, 1);
+  extra_layout_mission->addWidget(buttons_ext["mission_is_conflicting"], 2, 2);
+  extra_layout_mission->addWidget(buttons_ext["return_to_driving"], 3, 0);
+  extra_layout_mission->addWidget(buttons_ext["goto_wait_order"], 3, 1);
+  // state drive
+  QGridLayout* extra_layout_drive = new QGridLayout;
+  extra_layout_drive->addWidget(new QLabel("state Drive"), 0, 0);
+  extra_layout_drive->addWidget(buttons_ext["operation_start"], 1, 0);
+  extra_layout_drive->addWidget(buttons_ext["operation_end"], 1, 1);
+  extra_layout_drive->addWidget(buttons_ext["on_lane_area"], 2, 0);
+  extra_layout_drive->addWidget(buttons_ext["on_free_area"], 2, 1);
+  extra_layout_drive->addWidget(buttons_ext["on_cruise"], 3, 0);
+  extra_layout_drive->addWidget(buttons_ext["on_bus_stop"], 3, 1);
+  extra_layout_drive->addWidget(buttons_ext["on_parking"], 3, 2);
+  extra_layout_drive->addWidget(buttons_ext["on_straight"], 4, 0);
+  extra_layout_drive->addWidget(buttons_ext["on_right_turn"],4, 1);
+  extra_layout_drive->addWidget(buttons_ext["on_left_turn"], 4, 2);
+  extra_layout_drive->addWidget(buttons_ext["on_back"], 4, 3);
+  extra_layout_drive->addWidget(buttons_ext["lane_change_right"], 5, 0);
+  extra_layout_drive->addWidget(buttons_ext["lane_change_left"], 5, 1);
+  extra_layout_drive->addWidget(buttons_ext["on_pull_over"], 6, 0);
+  extra_layout_drive->addWidget(buttons_ext["on_pull_out"], 6, 1);
+  // set layout to window
+  window_vehicle = new QWidget;
+  window_vehicle->setLayout(extra_layout_vehicle);
+  window_vehicle->hide();
+  window_mission = new QWidget;
+  window_mission->setLayout(extra_layout_mission);
+  window_mission->hide();
+  window_drive = new QWidget;
+  window_drive->setLayout(extra_layout_drive);
+  window_drive->hide();
+
+
+  QPushButton* button_more = new QPushButton("&More...");
+  button_more->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
+  button_more->setFont(*q_font);
+  button_more->setCheckable(true);
+  connect(button_more, &QAbstractButton::toggled, window_vehicle, &QWidget::setVisible);
+  connect(button_more, &QAbstractButton::toggled, window_mission, &QWidget::setVisible);
+  connect(button_more, &QAbstractButton::toggled, window_drive, &QWidget::setVisible);
+
+  QHBoxLayout* button_toggle_layout = new QHBoxLayout;
+  button_toggle_layout->addWidget(button_more);
+  button_toggle_layout->addWidget(new QLabel("(Normally unused commands)"));
+
+  QVBoxLayout* layout = new QVBoxLayout;
+  layout->addLayout(label_layout);
+  layout->addLayout(button_layout_main);
+  layout->addLayout(button_layout_execute);
+  layout->addLayout(button_layout_mission);
+  layout->addLayout(button_layout_emergency);
+  layout->addLayout(button_toggle_layout);
+  layout->addWidget(window_vehicle);
+  layout->addWidget(window_mission);
+  layout->addWidget(window_drive);
+  setLayout(layout);
+}
+
+void DecisionMakerPanel::sendTopic(const QString &text)
+{
+  if (text == "emergency")
+  {
+    sendEmergency();
+  }
+  else if (statecmd_publisher_)
+  {
+    std_msgs::String msg;
+    msg.data = text.toStdString();
+    statecmd_publisher_.publish(msg);
+  }
+}
+
+void DecisionMakerPanel::sendEmergency()
+{
+  if (emergency_publisher_)
+  {
+    autoware_msgs::RemoteCmd remote_emergency;
+    remote_emergency.header.stamp = ros::Time::now();
+    remote_emergency.vehicle_cmd.emergency = 1;
+    emergency_publisher_.publish(remote_emergency);
+  }
+}
+
+void DecisionMakerPanel::save(rviz::Config config) const
+{
+  rviz::Panel::save(config);
+}
+
+void DecisionMakerPanel::load(const rviz::Config& config)
+{
+  rviz::Panel::load(config);
+}
+
+}  // end namespace autoware_rviz_debug
+
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS(autoware_rviz_debug::DecisionMakerPanel, rviz::Panel)
+// END_TUTORIAL
diff --git a/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.h b/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.h
new file mode 100644
index 00000000000..a6aacdd51db
--- /dev/null
+++ b/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.h
@@ -0,0 +1,65 @@
+/*
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef TELEOP_PANEL_H
+#define TELEOP_PANEL_H
+
+#ifndef Q_MOC_RUN
+#include <ros/ros.h>
+
+#include <rviz/panel.h>
+#endif
+
+class QLineEdit;
+
+namespace autoware_rviz_debug
+{
+class DecisionMakerPanel : public rviz::Panel
+{
+  Q_OBJECT
+public:
+  DecisionMakerPanel(QWidget* parent = 0);
+  QWidget *window_vehicle, *window_mission, *window_drive;
+
+  virtual void load(const rviz::Config& config);
+  virtual void save(rviz::Config config) const;
+
+public Q_SLOTS:
+  void sendTopic(const QString &text);
+  void sendEmergency();
+
+  // Then we finish up with protected member variables.
+protected:
+  ros::Publisher statecmd_publisher_;
+  ros::Publisher emergency_publisher_;
+  ros::NodeHandle nh_;
+};
+
+}  // end namespace autoware_rviz_debug
+
+#endif  // TELEOP_PANEL_H
diff --git a/ros/src/util/packages/autoware_rviz_plugins/state_panel/plugin_description.xml b/ros/src/util/packages/autoware_rviz_plugins/state_panel/plugin_description.xml
index 12555db046b..bdd4ec3fdc8 100644
--- a/ros/src/util/packages/autoware_rviz_plugins/state_panel/plugin_description.xml
+++ b/ros/src/util/packages/autoware_rviz_plugins/state_panel/plugin_description.xml
@@ -3,7 +3,7 @@
   <class name="autoware_rviz_plugins/State" type="autoware_rviz_plugins::StatePanel" base_class_type="rviz::Panel">
     <description>State Panel on rviz</description>
   </class>
-  
+
   <class name="autoware_sim_object/OpFlag" type="autoware_sim_object::AutowareSimObjTool" base_class_type="rviz::Tool">
     <description> Tool for sim_obj flags on the ground plane in rviz. </description>
   </class>
diff --git a/ros/src/util/packages/runtime_manager/scripts/computing.yaml b/ros/src/util/packages/runtime_manager/scripts/computing.yaml
index 2aa7f0b80e9..6144e595357 100755
--- a/ros/src/util/packages/runtime_manager/scripts/computing.yaml
+++ b/ros/src/util/packages/runtime_manager/scripts/computing.yaml
@@ -698,11 +698,27 @@ subs :
   - name : Decision
     desc : decision groups
     subs :
-
-    - name : planner_selector
-      desc : planner_selector desc sample
-      cmd  : roslaunch planner_selector planner_selector.launch
-      param: planner_selector
+    - name : state_machine(old)
+      desc : state_machine desc sample
+      cmd  : roslaunch state_machine state_machine.launch
+    - name : decision_maker(experimental)
+      desc : decision_maker desc sample
+      cmd  : roslaunch decision_maker decision_maker.launch
+      param: decision_maker
+      gui  :
+          dialog_width  : 400
+          dialog_height : 600
+          use_fms:
+            flags : [ nl ]
+          auto_mission_reload:
+            depend : use_fms
+            depend_bool : 'lambda v : v == 0'
+          auto_engage:
+            depend : use_fms
+            depend_bool : 'lambda v : v == 0'
+          auto_mission_change:
+            depend : use_fms
+            depend_bool : 'lambda v : v == 0'
 
 
 
@@ -1724,15 +1740,6 @@ params :
       max   : 150
       v     : 100.0
 
-    - name : enablePlannerDynamicSwitch
-      desc : Enable Planner dynamical switch
-      label: Enable Planner dynamical switch
-      kind : checkbox
-      v    : False
-      cmd_param:
-        dash     : ''
-        delim    : ':='
-
   - name  : lattice_velocity_set
     topic : /config/lattice_velocity_set
     msg   : ConfigLatticeVelocitySet
@@ -1922,131 +1929,94 @@ params :
         dash        : ''
         delim       : ':='
 
-  - name  : planner_selector
-    topic : /config/PlannerSelector
-    msg   : ConfigPlannerSelector
-    vars  :
-    - name : latency_num
-      desc : latency_num
-      label: latency_num
-      min  : 0
-      max  : 200
-      v    : 10
-    - name : waypoints_num
-      desc : waypoints_num
-      label: waypoints_num
-      min  : 0
-      max  : 30
-      v    : 8
-    - name : convergence_num
-      desc : convergence_num
-      label: convergence_num
-      min  : 0.0
-      max  : 30.0
-      v    : 2.0
-
   - name  : decision_maker
     topic : /config/decision_maker
     msg   : ConfigDecisionMaker
     vars  :
-    - name : enable_force_state_change
-      desc : enable force state change flag
-      label: enable_force_state_change
-      kind : checkbox
-      v    : False
-    - name : enable_display_marker
-      desc : enable display marker flag
-      label: enable_display_marker
-      kind : checkbox
-      v    : False
-    - name : convergence_threshold
-      desc : Convergence threshold to DRIVE_STATE from LOCATE_VEHICLE_STATE.(Meter)
-      label: convergence_threshold
-      min  : 0.0
-      max  : 10.0
-      v    : 0.01
-    - name : convergence_count
-      desc : Number of values used for convergence determination
-      label: convergence_count
-      min  : 1
-      max  : 30
-      v    : 5
-    - name : target_waypoint
-      desc : decision maker load wp_state except stopline by target_waypoint
-      label: target_waypoint
-      min  : 0
-      max  : 50
-      v    : 14
-    - name : stopline_target_waypoint
-      desc : stopline
-      label: stopline_target_waypoint
-      min  : 0
-      max  : 50
-      v    : 10
-    - name : stopline_target_ratio
-      desc : stopline
-      label: stopline_target_ratio
-      min  : 0.0
-      max  : 0.99
-      v    : 0.0
-    - name : shift_width
-      desc : lane shift width
-      label: shift_width
-      min  : -5.0
-      max  : 5.0
-      v    : 1.0
-    - name : detection_area_rate
-      desc : detection_area_rate
-      label: detection_area_rate
-      min  : 0.0
-      max  : 3.0
-      v    : 1.0
-    - name : crawl_velocity
-      desc : crawl_velocity
-      label: crawl_velocity
-      min  : 0.0
-      max  : 10.0
-      v    : 4.0
-    - name : detection_area_x1
-      desc : detection_area_x1
-      label: detection_area_x1
-      min  : -200.0
-      max  : 200.0
-      v    : 80.0
-    - name : detection_area_x2
-      desc : detection_area_x2
-      label: detection_area_x2
-      min  : -200.0
-      max  : 200.0
-      v    : 0.0
-    - name : detection_area_y1
-      desc : detection_area_y1
-      label: detection_area_y1
-      min  : -200.0
-      max  : 200.0
-      v    : 50.0
-    - name : detection_area_y2
-      desc : detection_area_y2
-      label: detection_area_y2
-      min  : -200.0
-      max  : 200.0
-      v    : -50.0
-
-    - name : points_topic
-      desc : points_topic
-      kind  : topic
-      topic_type : sensor_msgs/PointCloud2
-      v    : /points_lanes
-      cmd_param:
+    - name  : disuse_vector_map
+      desc  : If this is enabled, the state passes through the MapInit state without vectormap.
+      label : disuse_vector_map
+      kind  : checkbox
+      v     : False
+      cmd_param :
+        dash        : ''
+        delim       : ':='
+    - name  : num_of_steer_behind
+      desc  : e
+      label : num_of_steer_behind
+      min   : 0
+      max   : 50
+      v     : 20
+    - name  : goal_threshold_dist
+      desc  : Threshold for transitioning to the MissionComplete state(distance between the vehicle and the end of waypoints).
+      label : goal_threshold_dist[m]
+      min   : 0.1
+      max   : 5.0
+      v     : 3.0
+    - name  : goal_threshold_vel
+      desc  : Threshold for transitioning to the MissionComplete state(velocity of the vehicle).
+      label : goal_threshold_vel[km/h]
+      min   : 0.0
+      max   : 0.1
+      v     : 0.1
+    - name  : change_threshold_dist
+      desc  : Distance threashold for DrivingMissionChange state, between current pose and new closest waypoit.
+      label : change_threshold_dist[m]
+      min   : 0.0
+      max   : 10.0
+      v     : 1.0
+    - name  : change_threshold_angle
+      desc  : Angle threashold for DrivingMissionChange state, between current pose and new closest waypoint.
+      label : change_threshold_angle[deg]
+      min   : 0.0
+      max   : 90.0
+      v     : 15.0
+    - name  : points_topic
+      desc  : points_topic
+      kind  : str
+      v     : /points_lanes
+      cmd_param :
               dash : ''
               delim: ':='
-    - name : baselink_tf
-      desc : baselnk_tf
-      kind : str
-      v    : base_link
-      cmd_param:
+    - name  : baselink_tf
+      desc  : baselnk_tf
+      kind  : str
+      v     : base_link
+      cmd_param :
               dash : ''
               delim: ':='
+    - name  : use_fms
+      desc  : If this is disbled, part of state transitions are automatically executed.
+      label : use_fms
+      kind  : checkbox
+      v     : False
+      cmd_param :
+        dash      : ''
+        delim     : ':='
+    - name  : auto_mission_reload
+      desc  : If this is enabled, the mission will be automatically reloaded after the MissionComplete state.
+      label : auto_mission_reload
+      kind  : checkbox
+      v     : False
+      cmd_param :
+        dash      : ''
+        delim     : ':='
+    - name  : auto_engage
+      desc  : Automatically engage after load the mission.
+      label : auto_engage
+      kind  : checkbox
+      v     : False
+      cmd_param :
+        dash      : ''
+        delim     : ':='
+    - name  : auto_mission_change
+      desc  : The state transitions to DrivingMissionChange state automatically when load the mission while Driving state.
+      label : auto_mission_change
+      kind  : checkbox
+      v     : False
+      cmd_param :
+        dash      : ''
+        delim     : ':='
 
 
   - name  : car_kf
@@ -2479,14 +2449,6 @@ params :
       min       : 1.0
       max       : 50
       v         : 10.0
-    - name : enablePlannerDynamicSwitch
-      desc : Enable Planner dynamical switch
-      label: Enable Planner dynamical switch
-      kind : checkbox
-      v    : False
-      cmd_param:
-        dash     : ''
-        delim    : ':='
 
   - name  : astar_navi
     vars  :
@@ -2864,14 +2826,6 @@ params :
       cmd_param:
         dash     : ''
         delim    : ':='
-    - name : enablePlannerDynamicSwitch
-      desc : Enable Planner dynamical switch
-      label: Enable Planner dynamical switch
-      kind : checkbox
-      v    : False
-      cmd_param:
-        dash     : ''
-        delim    : ':='
 
   - name  : ff_waypoint_follower
     vars  :

From d37ec2ebe9d5db69028a670a8d556e75cfa76707 Mon Sep 17 00:00:00 2001
From: Kosuke Murakami <cirpue49@gmail.com>
Date: Tue, 12 Mar 2019 02:04:17 +0900
Subject: [PATCH 08/23] [Feature] costmap generator (#1774)

* * Initial commit for visualization package
* Removal of all visualization messages from perception nodes
* Visualization dependency removal
* Launch file modification

* * Fixes to visualization
* Error on Clustering CPU

* Reduce verbosity on markers

* Publish acceleration and velocity from ukf tracker

* Remove hardcoded path

* Updated README

* updated prototype

* Prototype update for header and usage

* Removed unknown label from being reported

* Updated publishing orientation to match develop

* * Published all the trackers
* Added valid field for visualization and future compatibility with ADAS ROI filtering

* Add simple functions

* * Reversed back UKF node to develop
* Formatted speed

* Refactor codes

* Make tracking visualization work

* Relay class info in tracker node

* Remove dependency to jskbbox and rosmarker in ukf tracker

* apply rosclang to ukf tracker

* Refactor codes

* Revert "apply rosclang to ukf tracker"

* Revert "Remove dependency to jskbbox and rosmarker in ukf tracker"

* Revert "Relay class info in tracker node"

* delete dependency to jsk and remove pointcloud_frame

* get direction nis

* set velocity_reliable true in tracker node

* Add divided function

* add function

* Sanity checks

* Relay all the data from input DetectedObject

* Divided function work both for immukf and sukf

* Add comment

* Refactor codes

* Pass immukf test

* make direction assisted tracking work

* Visualization fixes

* Refactor codes

* Tracker Merging step added

* Added launch file support for merging phase

* lane assisted with sukf

* * change only static objects
* keep label of the oldest tracker

* Static Object discrimination

* Non rotating bouding box

* no disappear if detector works

* Modify removeRedundant a bit

* initial commit for costmap generator

* add vague stucture

* add brief structure fot points2costmap

* refactor codes

* add sensor points costmap

* add waypoint costmap

* bug fix for wayarea2costmap

* add simple structure for objects2costmap

* add vague structure for waypoints2costmap

* Replacement of JSK visualization for RViz Native Markers

* add occupancy grid visualization

* add objects costmap

* add minimum height threshold for pointcloud

* debug computing.yaml from objects_topic to objects_input

* Add blurred costmap

* Add comment on computing.yml

* visualizing bug fix

* Make sure object's cost is 100 and blurred outside of objects

* add costmap_generator package

* add unit tests

* delete test launch file

* Apply autoware ros clang

* Add README

* sync develop's readme

* sync develop's code

* add convex hull costmap

* Relay ros header appropriately

* change interaface for generating costmap from points

* add test for points2costmap

* Modify for how to pick up convex-hull points

* add test

* add test for objects2costmap

* Added missing include

* Added missing grid_map_ros dependency

* Updated include

* Re-strutured include folders

* Generic folder name

* Fix/costmap generator (#2077)

* segmentation fault in  CheckAssignPoints2GridCell

* Remove redundant codes in test

* Add some variables in SetUp

* rename class

* rename files

* modify tests

* Add scription in SetUp

* Remove unnecesary in_object

* Refactor test codes
---
 .../include/naive_motion_predict.h            |   3 +
 .../naive_motion_predict.cpp                  |  16 +-
 .../packages/costmap_generator/CMakeLists.txt |  82 ++++
 .../packages/costmap_generator/README.md      |  53 ++
 .../costmap_generator/costmap_generator.h     | 144 ++++++
 .../costmap_generator/objects_to_costmap.h    | 105 ++++
 .../costmap_generator/points_to_costmap.h     | 109 +++++
 .../packages/costmap_generator/interface.yml  |   3 +
 .../launch/costmap_generator.launch           |  47 ++
 .../costmap_generator/costmap_generator.cpp   | 201 ++++++++
 .../costmap_generator_node.cpp                |  43 ++
 .../costmap_generator/objects_to_costmap.cpp  | 184 +++++++
 .../costmap_generator/points_to_costmap.cpp   | 139 ++++++
 .../packages/costmap_generator/package.xml    |  31 ++
 .../test/src/test_costmap_generator.cpp       | 457 ++++++++++++++++++
 .../test/src/test_costmap_generator.hpp       | 266 ++++++++++
 .../packages/object_map/CMakeLists.txt        |  17 +-
 .../{ => object_map}/object_map_utils.cpp     |   2 +-
 .../{ => object_map}/object_map_utils.hpp     |   0
 .../nodes/grid_map_filter/grid_map_filter.h   |   2 +-
 .../nodes/wayarea2grid/wayarea2grid.h         |   2 +-
 .../runtime_manager/scripts/computing.yaml    | 177 +++++++
 22 files changed, 2070 insertions(+), 13 deletions(-)
 create mode 100644 ros/src/computing/perception/semantics/packages/costmap_generator/CMakeLists.txt
 create mode 100644 ros/src/computing/perception/semantics/packages/costmap_generator/README.md
 create mode 100644 ros/src/computing/perception/semantics/packages/costmap_generator/include/costmap_generator/costmap_generator.h
 create mode 100644 ros/src/computing/perception/semantics/packages/costmap_generator/include/costmap_generator/objects_to_costmap.h
 create mode 100644 ros/src/computing/perception/semantics/packages/costmap_generator/include/costmap_generator/points_to_costmap.h
 create mode 100644 ros/src/computing/perception/semantics/packages/costmap_generator/interface.yml
 create mode 100644 ros/src/computing/perception/semantics/packages/costmap_generator/launch/costmap_generator.launch
 create mode 100644 ros/src/computing/perception/semantics/packages/costmap_generator/nodes/costmap_generator/costmap_generator.cpp
 create mode 100644 ros/src/computing/perception/semantics/packages/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp
 create mode 100644 ros/src/computing/perception/semantics/packages/costmap_generator/nodes/costmap_generator/objects_to_costmap.cpp
 create mode 100644 ros/src/computing/perception/semantics/packages/costmap_generator/nodes/costmap_generator/points_to_costmap.cpp
 create mode 100644 ros/src/computing/perception/semantics/packages/costmap_generator/package.xml
 create mode 100644 ros/src/computing/perception/semantics/packages/costmap_generator/test/src/test_costmap_generator.cpp
 create mode 100644 ros/src/computing/perception/semantics/packages/costmap_generator/test/src/test_costmap_generator.hpp
 rename ros/src/computing/perception/semantics/packages/object_map/include/{ => object_map}/object_map_utils.cpp (99%)
 rename ros/src/computing/perception/semantics/packages/object_map/include/{ => object_map}/object_map_utils.hpp (100%)

diff --git a/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/include/naive_motion_predict.h b/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/include/naive_motion_predict.h
index 71cdfb991e9..cba25ed41c6 100644
--- a/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/include/naive_motion_predict.h
+++ b/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/include/naive_motion_predict.h
@@ -40,6 +40,9 @@ class NaiveMotionPredict
   ros::NodeHandle nh_;
   ros::NodeHandle private_nh_;
 
+  // max prediction score
+  const double MAX_PREDICTION_SCORE_;
+
   // ros publisher
   ros::Publisher predicted_objects_pub_;
   ros::Publisher predicted_paths_pub_;
diff --git a/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/nodes/naive_motion_predict/naive_motion_predict.cpp b/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/nodes/naive_motion_predict/naive_motion_predict.cpp
index 40dbe960cb4..730cd3be486 100644
--- a/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/nodes/naive_motion_predict/naive_motion_predict.cpp
+++ b/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/nodes/naive_motion_predict/naive_motion_predict.cpp
@@ -16,7 +16,10 @@
 
 #include "naive_motion_predict.h"
 
-NaiveMotionPredict::NaiveMotionPredict() : nh_(), private_nh_("~")
+NaiveMotionPredict::NaiveMotionPredict() :
+  nh_(),
+  private_nh_("~"),
+  MAX_PREDICTION_SCORE_(1.0)
 {
   private_nh_.param<double>("interval_sec", interval_sec_, 0.1);
   private_nh_.param<int>("num_prediction", num_prediction_, 10);
@@ -56,14 +59,17 @@ void NaiveMotionPredict::initializeROSmarker(const std_msgs::Header& header, con
 }
 
 void NaiveMotionPredict::makePrediction(const autoware_msgs::DetectedObject& object,
-                                        std::vector<autoware_msgs::DetectedObject>& predicted_objects,
+                                        std::vector<autoware_msgs::DetectedObject>& predicted_objects_vec,
                                         visualization_msgs::Marker& predicted_line)
 {
   autoware_msgs::DetectedObject target_object = object;
+  target_object.score = MAX_PREDICTION_SCORE_;
   initializeROSmarker(object.header, object.pose.position, object.id, predicted_line);
-  for (int i = 0; i < num_prediction_; i++)
+  for (int ith_prediction = 0; ith_prediction < num_prediction_; ith_prediction++)
   {
     autoware_msgs::DetectedObject predicted_object = generatePredictedObject(target_object);
+    predicted_object.score = (-1/(interval_sec_*num_prediction_))*ith_prediction*interval_sec_ + MAX_PREDICTION_SCORE_;
+    predicted_objects_vec.push_back(predicted_object);
     target_object = predicted_object;
 
     geometry_msgs::Point p;
@@ -174,7 +180,7 @@ void NaiveMotionPredict::objectsCallback(const autoware_msgs::DetectedObjectArra
 {
   autoware_msgs::DetectedObjectArray output;
   visualization_msgs::MarkerArray predicted_lines;
-  output.header = input.header;
+  output = input;
 
   for (const auto &object : input.objects)
   {
@@ -219,4 +225,4 @@ bool NaiveMotionPredict::isObjectValid(const autoware_msgs::DetectedObject &in_o
     return false;
   }
   return true;
-}//end IsObjectValid
\ No newline at end of file
+}//end IsObjectValid
diff --git a/ros/src/computing/perception/semantics/packages/costmap_generator/CMakeLists.txt b/ros/src/computing/perception/semantics/packages/costmap_generator/CMakeLists.txt
new file mode 100644
index 00000000000..b643c28b738
--- /dev/null
+++ b/ros/src/computing/perception/semantics/packages/costmap_generator/CMakeLists.txt
@@ -0,0 +1,82 @@
+cmake_minimum_required(VERSION 2.8.12)
+
+project(costmap_generator)
+
+find_package(catkin REQUIRED COMPONENTS
+  autoware_build_flags
+  roscpp
+  pcl_ros
+  grid_map_ros
+  tf
+  autoware_msgs
+  vector_map
+  object_map
+)
+
+catkin_package(
+  CATKIN_DEPENDS
+    roscpp
+    pcl_ros
+    grid_map_ros
+    tf
+    autoware_msgs
+    vector_map
+    object_map
+)
+
+set(CMAKE_CXX_FLAGS "-O2 -g -Wall ${CMAKE_CXX_FLAGS}")
+
+include_directories(
+        ${catkin_INCLUDE_DIRS}
+        include
+)
+
+### costmap_generator ###
+add_library(costmap_generator_lib
+        nodes/costmap_generator/costmap_generator_node.cpp
+        nodes/costmap_generator/costmap_generator.cpp
+        nodes/costmap_generator/points_to_costmap.cpp
+        nodes/costmap_generator/objects_to_costmap.cpp
+        )
+target_link_libraries(costmap_generator_lib
+        ${catkin_LIBRARIES}
+        )
+add_dependencies(costmap_generator_lib
+        ${catkin_EXPORTED_TARGETS}
+        )
+
+add_executable(costmap_generator
+        nodes/costmap_generator/costmap_generator_node.cpp
+        nodes/costmap_generator/costmap_generator.cpp
+        nodes/costmap_generator/points_to_costmap.cpp
+        nodes/costmap_generator/objects_to_costmap.cpp
+        )
+
+target_link_libraries(costmap_generator
+        ${catkin_LIBRARIES}
+        )
+
+add_dependencies(costmap_generator
+        ${catkin_EXPORTED_TARGETS}
+        )
+
+
+install(TARGETS costmap_generator
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+install(DIRECTORY launch/
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+        PATTERN ".svn" EXCLUDE)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+        PATTERN ".svn" EXCLUDE
+        )
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  catkin_add_gtest(test-costmap_generator test/src/test_costmap_generator.cpp)
+  target_link_libraries(test-costmap_generator ${catkin_LIBRARIES} costmap_generator_lib)
+endif()
diff --git a/ros/src/computing/perception/semantics/packages/costmap_generator/README.md b/ros/src/computing/perception/semantics/packages/costmap_generator/README.md
new file mode 100644
index 00000000000..f83567f6596
--- /dev/null
+++ b/ros/src/computing/perception/semantics/packages/costmap_generator/README.md
@@ -0,0 +1,53 @@
+# The `costmap_generator` Package
+## costmap_generator
+
+This node reads `PointCloud` and/or `DetectedObjectArray` and creates an `OccupancyGrid` and `GridMap`. `VectorMap` is optional.
+
+**You need to subscribe at least one of `PointCloud` or `DetectedObjectArray` to generate costmap.**
+
+
+
+
+#### Input topics
+`/points_no_ground` (sensor_msgs::PointCloud2) : from ray_ground_filter or compare map filter. It contains filtered points with the ground removed.
+
+`/prediction/moving_predictor/objects` (autoware_msgs::DetectedObjectArray): predicted objects from naive_motion_predict.
+
+`/vector_map`: from the VectorMap publisher. `/tf` to obtain the transform between the vector map(map_frame) and the sensor(sensor_frame) .
+
+
+#### Output topics
+`/semantics/costmap` (grid_map::GridMap) is the output costmap, with values ranging from 0.0-1.0.
+
+`/semantics/costmap_generator/occupancy_grid` (nav_msgs::OccupancyGrid) is the output OccupancyGrid, with values ranging from 0-100.
+
+##### How to launch
+It can be launched as follows:
+ 1. Using the Runtime Manager by clicking the `costmap_generator` checkbox under the *Semantics* section in the Computing tab.
+ 2. From a sourced terminal executing: `roslaunch costmap_generator costmap_generator.launch`.
+
+##### Parameters available in roslaunch and rosrun
+* `use_objects` Whether if using `DetectedObjectArray` or not (default value: true).
+* `use_points` Whether if using `PointCloud` or not (default value: true).
+* `use_wayarea` Whether if using `Wayarea` from `VectorMap` or not (default value: true).
+* `objects_input` Input topic for `autoware_msgs::DetectedObjectArray` (default value: /prediction/moving_predictor/objects).
+* `points_input` Input topic for sensor_msgs::PointCloud2 (default value: points_no_ground).
+* `lidar_frame` Lidar sensor coordinate. Cost is calculated based on this coordinate (default value: velodyne).
+* `map_frame` VectorMap's coordinate. (default value: map).
+* `grid_min_value` Minimum cost for gridmap (default value: 0.0).
+* `grid_max_value` Maximum cost for gridmap (default value: 1.0).
+* `grid_resolution` Resolution for gridmap (default value: 0.2).
+* `grid_length_x` Size of gridmap for x direction (default value: 50).
+* `grid_length_y` Size of gridmap for y direction (default value: 30).
+* `grid_position_x` Offset from coordinate in x direction (default value: 20).
+* `grid_position_y` Offset from coordinate in y direction (default value:  0).
+* `maximum_lidar_height_thres` Maximum height threshold for pointcloud data (default value:  0.3).
+* `minimum_lidar_height_thres` Minimum height threshold for pointcloud data (default value:  -2.2).
+* `expand_rectangle_size` Expand object's rectangle with this value (default value: 1).
+* `size_of_expansion_kernel` Kernel size for blurring effect on object's costmap (default value: 9).
+
+---
+
+## Instruction Videos
+
+[![](https://img.youtube.com/vi/f7kSVJ23Mtw/0.jpg)](https://www.youtube.com/watch?v=f7kSVJ23Mtw)
diff --git a/ros/src/computing/perception/semantics/packages/costmap_generator/include/costmap_generator/costmap_generator.h b/ros/src/computing/perception/semantics/packages/costmap_generator/include/costmap_generator/costmap_generator.h
new file mode 100644
index 00000000000..bd74d4b92cb
--- /dev/null
+++ b/ros/src/computing/perception/semantics/packages/costmap_generator/include/costmap_generator/costmap_generator.h
@@ -0,0 +1,144 @@
+/*
+ *  Copyright (c) 2018, Nagoya University
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions are met:
+ *
+ *  * Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ *
+ *  * Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ *  * Neither the name of Autoware nor the names of its
+ *    contributors may be used to endorse or promote products derived from
+ *    this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ *  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ *  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ *  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ *  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ ********************/
+
+#ifndef COSTMAP_GENERATOR_H
+#define COSTMAP_GENERATOR_H
+
+// headers in ROS
+#include <ros/ros.h>
+#include <tf/transform_listener.h>
+#include <message_filters/subscriber.h>
+#include <message_filters/time_synchronizer.h>
+#include <grid_map_ros/grid_map_ros.hpp>
+#include <grid_map_ros/GridMapRosConverter.hpp>
+#include <grid_map_msgs/GridMap.h>
+
+// headers in local directory
+#include "vector_map/vector_map.h"
+#include "autoware_msgs/DetectedObjectArray.h"
+#include "points_to_costmap.h"
+#include "objects_to_costmap.h"
+
+// headers in STL
+#include <memory>
+
+class CostmapGenerator
+{
+public:
+  CostmapGenerator();
+  ~CostmapGenerator();
+
+  void init();
+  void run();
+
+private:
+  friend class TestClass;
+  ros::NodeHandle nh_;
+  ros::NodeHandle private_nh_;
+  bool use_objects_box_;
+  bool use_objects_convex_hull_;
+  bool use_points_;
+  bool use_wayarea_;
+
+  bool has_subscribed_wayarea_;
+
+  std::string lidar_frame_;
+  std::string map_frame_;
+  double grid_min_value_;
+  double grid_max_value_;
+  double grid_resolution_;
+  double grid_length_x_;
+  double grid_length_y_;
+  double grid_position_x_;
+  double grid_position_y_;
+
+  double maximum_lidar_height_thres_;
+  double minimum_lidar_height_thres_;
+
+  double expand_polygon_size_;
+  int size_of_expansion_kernel_;
+
+  vector_map::VectorMap vmap_;
+
+  grid_map::GridMap costmap_;
+
+  ros::Publisher pub_costmap_;
+  ros::Publisher pub_occupancy_grid_;
+  ros::Subscriber sub_waypoint_;
+  ros::Subscriber sub_points_;
+  ros::Subscriber sub_objects_;
+
+  tf::TransformListener tf_listener_;
+
+  std::vector<std::vector<geometry_msgs::Point>> area_points_;
+
+  PointsToCostmap points2costmap_;
+  ObjectsToCostmap objects2costmap_;
+
+  const std::string OBJECTS_BOX_COSTMAP_LAYER_;
+  const std::string OBJECTS_CONVEX_HULL_COSTMAP_LAYER_;
+  const std::string SENSOR_POINTS_COSTMAP_LAYER_;
+  const std::string VECTORMAP_COSTMAP_LAYER_;
+  const std::string COMBINED_COSTMAP_LAYER_;
+
+  /// \brief callback for DetectedObjectArray
+  /// \param[in] in_objects input DetectedObjectArray usually from prediction or perception component
+  void objectsCallback(const autoware_msgs::DetectedObjectArray::ConstPtr& in_ojects);
+
+  /// \brief callback for sensor_msgs::PointCloud2
+  /// \param[in] in_sensor_points input sensot_msgs::PointCloud2. Assuming groud-fitered pointcloud by default
+  void sensorPointsCallback(const sensor_msgs::PointCloud2::ConstPtr& in_sensor_points);
+
+  /// \brief initialize gridmap parameters based on rosparam
+  void initGridmap();
+
+  /// \brief publish ros msg: /semantics/costmap (grid_map::GridMap),
+  ///                         /semantics/costmap_generator/occupancy_grid(nav_msgs::OccupancyGrid)
+  /// \param[in] gridmap with calculated cost
+  /// \param[in] input ros header
+  void publishRosMsg(const grid_map::GridMap& gridmap, const std_msgs::Header& in_header);
+
+  /// \brief calculate cost from pointcloud data
+  /// \param[in] in_sensor_points: subscribed pointcloud data
+  grid_map::Matrix generateSensorPointsCostmap(const pcl::PointCloud<pcl::PointXYZ>::Ptr& in_sensor_points);
+
+  /// \brief calculate cost from DetectedObjectArray
+  /// \param[in] in_objects: subscribed DetectedObjectArray
+  grid_map::Matrix generateObjectsCostmap(const autoware_msgs::DetectedObjectArray::ConstPtr& in_objects,
+                                          const bool use_objects_convex_hull);
+
+  /// \brief calculate cost from vectormap
+  grid_map::Matrix generateVectormapCostmap();
+
+  /// \brief calculate cost for final output
+  grid_map::Matrix generateCombinedCostmap();
+};
+
+#endif  // COSTMAP_GENERATOR_H
diff --git a/ros/src/computing/perception/semantics/packages/costmap_generator/include/costmap_generator/objects_to_costmap.h b/ros/src/computing/perception/semantics/packages/costmap_generator/include/costmap_generator/objects_to_costmap.h
new file mode 100644
index 00000000000..962bdaf2350
--- /dev/null
+++ b/ros/src/computing/perception/semantics/packages/costmap_generator/include/costmap_generator/objects_to_costmap.h
@@ -0,0 +1,105 @@
+/*
+ *  Copyright (c) 2018, Nagoya University
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions are met:
+ *
+ *  * Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ *
+ *  * Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ *  * Neither the name of Autoware nor the names of its
+ *    contributors may be used to endorse or promote products derived from
+ *    this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ *  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ *  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ *  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ *  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ ********************/
+
+#ifndef OBJECTS_TO_COSTMAP_H
+#define OBJECTS_TO_COSTMAP_H
+
+// headers in ROS
+#include <ros/ros.h>
+#include <grid_map_ros/grid_map_ros.hpp>
+
+// headers in local directory
+#include "autoware_msgs/DetectedObjectArray.h"
+
+class ObjectsToCostmap
+{
+public:
+  ObjectsToCostmap();
+  ~ObjectsToCostmap();
+
+  /// \brief calculate cost from DetectedObjectArray
+  /// \param[in] costmap: initialized gridmap
+  /// \param[in] expand_polygon_size: expand object's costmap polygon
+  /// \param[in] size_of_expansion_kernel: kernel size for blurring cost
+  /// \param[in] in_objects: subscribed DetectedObjectArray
+  /// \param[out] calculated cost in grid_map::Matrix format
+  grid_map::Matrix makeCostmapFromObjects(const grid_map::GridMap& costmap,
+                                          const double expand_polygon_size, const double size_of_expansion_kernel,
+                                          const autoware_msgs::DetectedObjectArray::ConstPtr& in_objects,
+                                          const bool use_objects_convex_hull);
+
+private:
+  friend class TestClass;
+
+  const int NUMBER_OF_POINTS;
+  const int NUMBER_OF_DIMENSIONS;
+  const std::string OBJECTS_COSTMAP_LAYER_;
+  const std::string EXPANDED_OBJECTS_COSTMAP_LAYER_;
+
+  /// \brief make 4 rectangle points from centroid position and orientation
+  /// \param[in] in_object: subscribed one of DetectedObjectArray
+  /// \param[in] expand_rectangle_size: expanding 4 points
+  /// \param[out] 4 rectangle points
+  Eigen::MatrixXd makeRectanglePoints(const autoware_msgs::DetectedObject& in_object,
+                                      const double expand_rectangle_size);
+
+  /// \brief make polygon(grid_map::Polygon) from 4 rectangle's points
+  /// \param[in] in_object: subscribed one of DetectedObjectArray
+  /// \param[in] expand_rectangle_size: expanding 4 points
+  /// \param[out] polygon with 4 rectangle points
+  grid_map::Polygon makePolygonFromObjectBox(const autoware_msgs::DetectedObject& in_object,
+                                          const double expand_rectangle_size);
+
+  /// \brief make expanded point from convex hull's point
+  /// \param[in] in_centroid: object's centroid
+  /// \param[in] in_corner_point one of convex hull points
+  /// \param[in] expand_polygon_size  the param for expanding convex_hull points
+  /// \param[out] expanded point
+  geometry_msgs::Point makeExpandedPoint(const geometry_msgs::Point& in_centroid,
+                                         const geometry_msgs::Point32& in_corner_point,
+                                         const double expand_polygon_size);
+
+  /// \brief make polygon(grid_map::Polygon) from convex hull points
+  /// \param[in] in_centroid: object's centroid
+  /// \param[in] expand_polygon_size: expanding convex_hull points
+  /// \param[out] polygon object with convex hull points
+  grid_map::Polygon makePolygonFromObjectConvexHull(const autoware_msgs::DetectedObject& in_object,
+                                                    const double expand_polygon_size);
+
+  /// \brief set cost in polygon by using DetectedObject's score
+  /// \param[in] polygon: 4 rectangle points in polygon format
+  /// \param[in] gridmap_layer_name: target gridmap layer name for calculated cost
+  /// \param[in] score: set score as a cost for costmap
+  /// \param[in] objects_costmap: update cost in this objects_costmap[gridmap_layer_name]
+  void setCostInPolygon(const grid_map::Polygon& polygon, const std::string& gridmap_layer_name, const float score,
+                        grid_map::GridMap& objects_costmap);
+};
+
+#endif  // OBJECTS_TO_COSTMAP_H
diff --git a/ros/src/computing/perception/semantics/packages/costmap_generator/include/costmap_generator/points_to_costmap.h b/ros/src/computing/perception/semantics/packages/costmap_generator/include/costmap_generator/points_to_costmap.h
new file mode 100644
index 00000000000..f32125bbca0
--- /dev/null
+++ b/ros/src/computing/perception/semantics/packages/costmap_generator/include/costmap_generator/points_to_costmap.h
@@ -0,0 +1,109 @@
+/*
+ *  Copyright (c) 2018, Nagoya University
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions are met:
+ *
+ *  * Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ *
+ *  * Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ *  * Neither the name of Autoware nor the names of its
+ *    contributors may be used to endorse or promote products derived from
+ *    this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ *  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ *  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ *  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ *  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ ********************/
+
+#ifndef POINTS_TO_COSTMAP_H
+#define POINTS_TO_COSTMAP_H
+
+// headers in ROS
+#include <ros/ros.h>
+#include <grid_map_ros/grid_map_ros.hpp>
+
+// headers in PCL
+#include <pcl_ros/point_cloud.h>
+
+class PointsToCostmap
+{
+public:
+  PointsToCostmap();
+  ~PointsToCostmap();
+
+  /// \brief calculate cost from sensor points
+  /// \param[in] maximum_height_thres: Maximum height threshold for pointcloud data
+  /// \param[in] minimum_height_thres: Minimum height threshold for pointcloud data
+  /// \param[in] grid_min_value: Minimum cost for costmap
+  /// \param[in] grid_max_value: Maximum cost fot costmap
+  /// \param[in] gridmap: costmap based on gridmap
+  /// \param[in] gridmap_layer_name: gridmap layer name for gridmap
+  /// \param[in] in_sensor_points: subscribed pointcloud
+  /// \param[out] calculated cost in grid_map::Matrix format
+  grid_map::Matrix makeCostmapFromSensorPoints(const double maximum_height_thres, const double minimum_height_thres,
+                                               const double grid_min_value, const double grid_max_value,
+                                               const grid_map::GridMap& gridmap, const std::string& gridmap_layer_name,
+                                               const pcl::PointCloud<pcl::PointXYZ>::Ptr& in_sensor_points);
+
+private:
+  friend class TestClass;
+
+  double grid_length_x_;
+  double grid_length_y_;
+  double grid_resolution_;
+  double grid_position_x_;
+  double grid_position_y_;
+  double y_cell_size_;
+  double x_cell_size_;
+
+  /// \brief initialize gridmap parameters
+  /// \param[in] gridmap: gridmap object to be initialized
+  void initGridmapParam(const grid_map::GridMap& gridmap);
+
+  /// \brief check if index is valid in the gridmap
+  /// \param[in] grid_ind: grid index corresponding with one of pointcloud
+  /// \param[out] bool: true if index is valid
+  bool isValidInd(const grid_map::Index& grid_ind);
+
+  /// \brief Get index from one of pointcloud
+  /// \param[in] point: one of subscribed pointcloud
+  /// \param[out] index in gridmap
+  grid_map::Index fetchGridIndexFromPoint(const pcl::PointXYZ& point);
+
+  /// \brief Assign pointcloud to appropriate cell in gridmap
+  /// \param[in] gridmap: costmap based on gridmap
+  /// \param[in] in_sensor_points: subscribed pointcloud
+  /// \param[out] grid-x-length x grid-y-length size grid stuffed with point's height in corresponding grid cell
+  std::vector<std::vector<std::vector<double>>>
+  assignPoints2GridCell(const grid_map::GridMap& gridmap, const pcl::PointCloud<pcl::PointXYZ>::Ptr& in_sensor_points);
+
+  /// \brief calculate costmap from subscribed pointcloud
+  /// \param[in] maximum_height_thres: Maximum height threshold for pointcloud data
+  /// \param[in] minimum_height_thres: Minimum height threshold for pointcloud data
+  /// \param[in] grid_min_value: Minimum cost for costmap
+  /// \param[in] grid_max_value: Maximum cost fot costmap
+  /// \param[in] gridmap: costmap based on gridmap
+  /// \param[in] gridmap_layer_name: gridmap layer name for gridmap
+  /// \param[in] grid_vec: grid-x-length x grid-y-length size grid stuffed with point's height in corresponding grid
+  /// cell
+  /// \param[out] caculated costmap in grid_map::Matrix format
+  grid_map::Matrix calculateCostmap(const double maximum_height_thres, const double minimum_lidar_height_thres,
+                                    const double grid_min_value, const double grid_max_value,
+                                    const grid_map::GridMap& gridmap, const std::string& gridmap_layer_name,
+                                    const std::vector<std::vector<std::vector<double>>> grid_vec);
+};
+
+#endif  // POINTS_TO_COSTMAP_H
diff --git a/ros/src/computing/perception/semantics/packages/costmap_generator/interface.yml b/ros/src/computing/perception/semantics/packages/costmap_generator/interface.yml
new file mode 100644
index 00000000000..615d13a8bf1
--- /dev/null
+++ b/ros/src/computing/perception/semantics/packages/costmap_generator/interface.yml
@@ -0,0 +1,3 @@
+- name: /costmap_generator
+  publish: [/semantics/costmap]
+  subscribe: [/points_no_ground, /vector_map, /prediction/moving_predictor/objects]
diff --git a/ros/src/computing/perception/semantics/packages/costmap_generator/launch/costmap_generator.launch b/ros/src/computing/perception/semantics/packages/costmap_generator/launch/costmap_generator.launch
new file mode 100644
index 00000000000..c5a97b1fcfa
--- /dev/null
+++ b/ros/src/computing/perception/semantics/packages/costmap_generator/launch/costmap_generator.launch
@@ -0,0 +1,47 @@
+<launch>
+  <!-- node parameters -->
+  <arg name="lidar_frame" default="velodyne" />
+  <arg name="map_frame" default="map" />
+  <arg name="grid_min_value" default="0.0" />
+  <arg name="grid_max_value" default="1.0" />
+  <arg name="grid_resolution" default="0.2" />
+  <arg name="grid_length_x" default="50" />
+  <arg name="grid_length_y" default="30" />
+  <arg name="grid_position_x" default="20" />
+  <arg name="grid_position_y" default="0" />
+  <arg name="maximum_lidar_height_thres" default="0.3" />
+  <arg name="minimum_lidar_height_thres" default="-2.2" />
+  <arg name="expand_polygon_size" default="1.0" />
+  <arg name="size_of_expansion_kernel" default="9" />
+  <arg name="use_objects_box" default="false" />
+  <arg name="use_objects_convex_hull" default="true" />
+  <arg name="use_points" default="true" />
+  <arg name="use_wayarea" default="true" />
+
+  <arg name="objects_input" default="/prediction/motion_predictor/objects" />
+  <arg name="points_input" default="/points_no_ground" />
+
+  <!-- Launch node -->
+  <node pkg="costmap_generator" type="costmap_generator" name="costmap_generator" output="screen">
+    <param name="lidar_frame" value="$(arg lidar_frame)" />
+    <param name="map_frame" value="$(arg map_frame)" />
+    <param name="grid_min_value" value="$(arg grid_min_value)" />
+    <param name="grid_max_value" value="$(arg grid_max_value)" />
+    <param name="grid_resolution" value="$(arg grid_resolution)" />
+    <param name="grid_length_x" value="$(arg grid_length_x)" />
+    <param name="grid_length_y" value="$(arg grid_length_y)" />
+    <param name="grid_position_x" value="$(arg grid_position_x)" />
+    <param name="grid_position_y" value="$(arg grid_position_y)" />
+    <param name="maximum_lidar_height_thres" value="$(arg maximum_lidar_height_thres)" />
+    <param name="minimum_lidar_height_thres" value="$(arg minimum_lidar_height_thres)" />
+    <param name="expand_polygon_size" value="$(arg expand_polygon_size)" />
+    <param name="size_of_expansion_kernel" value="$(arg size_of_expansion_kernel)" />
+    <param name="use_objects_box" value="$(arg use_objects_box)" />
+    <param name="use_objects_convex_hull" value="$(arg use_objects_convex_hull)" />
+    <param name="use_points" value="$(arg use_points)" />
+    <param name="use_wayarea" value="$(arg use_wayarea)" />
+
+    <remap from="/prediction/motion_predictor/objects"  to="$(arg objects_input)" />
+    <remap from="/points_no_ground"                     to="$(arg points_input)" />
+  </node>
+</launch>
diff --git a/ros/src/computing/perception/semantics/packages/costmap_generator/nodes/costmap_generator/costmap_generator.cpp b/ros/src/computing/perception/semantics/packages/costmap_generator/nodes/costmap_generator/costmap_generator.cpp
new file mode 100644
index 00000000000..9f2c37957b3
--- /dev/null
+++ b/ros/src/computing/perception/semantics/packages/costmap_generator/nodes/costmap_generator/costmap_generator.cpp
@@ -0,0 +1,201 @@
+/*
+ *  Copyright (c) 2018, Nagoya University
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions are met:
+ *
+ *  * Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ *
+ *  * Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ *  * Neither the name of Autoware nor the names of its
+ *    contributors may be used to endorse or promote products derived from
+ *    this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ *  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ *  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ *  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ *  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ ********************/
+
+// headers in local directory
+#include "object_map/object_map_utils.hpp"
+#include "costmap_generator/costmap_generator.h"
+
+// Constructor
+CostmapGenerator::CostmapGenerator()
+  : private_nh_("~")
+  , has_subscribed_wayarea_(false)
+  , OBJECTS_BOX_COSTMAP_LAYER_("objects_box")
+  , OBJECTS_CONVEX_HULL_COSTMAP_LAYER_("objects_convex_hull")
+  , SENSOR_POINTS_COSTMAP_LAYER_("sensor_points")
+  , VECTORMAP_COSTMAP_LAYER_("vectormap")
+  , COMBINED_COSTMAP_LAYER_("costmap")
+{
+}
+
+CostmapGenerator::~CostmapGenerator()
+{
+}
+
+void CostmapGenerator::init()
+{
+  private_nh_.param<std::string>("lidar_frame", lidar_frame_, "velodyne");
+  private_nh_.param<std::string>("map_frame", map_frame_, "map");
+  private_nh_.param<double>("grid_min_value", grid_min_value_, 0.0);
+  private_nh_.param<double>("grid_max_value", grid_max_value_, 1.0);
+  private_nh_.param<double>("grid_resolution", grid_resolution_, 0.2);
+  private_nh_.param<double>("grid_length_x", grid_length_x_, 50);
+  private_nh_.param<double>("grid_length_y", grid_length_y_, 30);
+  private_nh_.param<double>("grid_position_x", grid_position_x_, 20);
+  private_nh_.param<double>("grid_position_y", grid_position_y_, 0);
+  private_nh_.param<double>("maximum_lidar_height_thres", maximum_lidar_height_thres_, 0.3);
+  private_nh_.param<double>("minimum_lidar_height_thres", minimum_lidar_height_thres_, -2.2);
+  private_nh_.param<bool>("use_objects_box", use_objects_box_, false);
+  private_nh_.param<bool>("use_objects_convex_hull", use_objects_convex_hull_, true);
+  private_nh_.param<bool>("use_points", use_points_, true);
+  private_nh_.param<bool>("use_wayarea", use_wayarea_, true);
+  private_nh_.param<double>("expand_polygon_size", expand_polygon_size_, 1.0);
+  private_nh_.param<int>("size_of_expansion_kernel", size_of_expansion_kernel_, 9);
+
+  initGridmap();
+}
+
+void CostmapGenerator::run()
+{
+  pub_costmap_ = nh_.advertise<grid_map_msgs::GridMap>("/semantics/costmap", 1);
+  pub_occupancy_grid_ = nh_.advertise<nav_msgs::OccupancyGrid>("/semantics/costmap_generator/occupancy_grid", 1);
+
+  if (use_objects_box_ || use_objects_convex_hull_)
+  {
+    sub_objects_ = nh_.subscribe("/prediction/motion_predictor/objects", 1, &CostmapGenerator::objectsCallback, this);
+  }
+
+  if (use_points_)
+  {
+    sub_points_ = nh_.subscribe("/points_no_ground", 1, &CostmapGenerator::sensorPointsCallback, this);
+  }
+}
+
+void CostmapGenerator::objectsCallback(const autoware_msgs::DetectedObjectArray::ConstPtr& in_objects)
+{
+  if(use_objects_box_)
+  {
+    const bool use_convex_hull = !use_objects_box_;
+    costmap_[OBJECTS_BOX_COSTMAP_LAYER_] = generateObjectsCostmap(in_objects, use_convex_hull);
+  }
+
+  if(use_objects_convex_hull_)
+  {
+    costmap_[OBJECTS_CONVEX_HULL_COSTMAP_LAYER_] = generateObjectsCostmap(in_objects, use_objects_convex_hull_);
+  }
+  costmap_[VECTORMAP_COSTMAP_LAYER_] = generateVectormapCostmap();
+  costmap_[COMBINED_COSTMAP_LAYER_] = generateCombinedCostmap();
+
+  std_msgs::Header in_header = in_objects->header;
+  publishRosMsg(costmap_, in_header);
+}
+
+void CostmapGenerator::sensorPointsCallback(const sensor_msgs::PointCloud2::ConstPtr& in_sensor_points_msg)
+{
+  pcl::PointCloud<pcl::PointXYZ>::Ptr in_sensor_points(new pcl::PointCloud<pcl::PointXYZ>);
+  pcl::fromROSMsg(*in_sensor_points_msg, *in_sensor_points);
+  costmap_[SENSOR_POINTS_COSTMAP_LAYER_] = generateSensorPointsCostmap(in_sensor_points);
+  costmap_[VECTORMAP_COSTMAP_LAYER_] = generateVectormapCostmap();
+  costmap_[COMBINED_COSTMAP_LAYER_] = generateCombinedCostmap();
+
+  std_msgs::Header in_header = in_sensor_points_msg->header;
+  publishRosMsg(costmap_, in_header);
+}
+
+void CostmapGenerator::initGridmap()
+{
+  costmap_.setFrameId(lidar_frame_);
+  costmap_.setGeometry(grid_map::Length(grid_length_x_, grid_length_y_), grid_resolution_,
+                       grid_map::Position(grid_position_x_, grid_position_y_));
+
+  costmap_.add(SENSOR_POINTS_COSTMAP_LAYER_, grid_min_value_);
+  costmap_.add(OBJECTS_BOX_COSTMAP_LAYER_, grid_min_value_);
+  costmap_.add(OBJECTS_CONVEX_HULL_COSTMAP_LAYER_, grid_min_value_);
+  costmap_.add(VECTORMAP_COSTMAP_LAYER_, grid_min_value_);
+  costmap_.add(COMBINED_COSTMAP_LAYER_, grid_min_value_);
+}
+
+grid_map::Matrix
+CostmapGenerator::generateSensorPointsCostmap(const pcl::PointCloud<pcl::PointXYZ>::Ptr& in_sensor_points)
+{
+  grid_map::Matrix sensor_points_costmap = points2costmap_.makeCostmapFromSensorPoints(
+      maximum_lidar_height_thres_, minimum_lidar_height_thres_, grid_min_value_, grid_max_value_, costmap_,
+      SENSOR_POINTS_COSTMAP_LAYER_, in_sensor_points);
+  return sensor_points_costmap;
+}
+
+grid_map::Matrix
+CostmapGenerator::generateObjectsCostmap(const autoware_msgs::DetectedObjectArray::ConstPtr& in_objects,
+                                         const bool use_convex_hull)
+{
+  grid_map::Matrix objects_costmap = objects2costmap_.makeCostmapFromObjects(
+    costmap_, expand_polygon_size_, size_of_expansion_kernel_, in_objects, use_convex_hull);
+  return objects_costmap;
+}
+
+// Only this funstion depends on object_map_utils
+grid_map::Matrix CostmapGenerator::generateVectormapCostmap()
+{
+  grid_map::GridMap vectormap_costmap = costmap_;
+  if (use_wayarea_)
+  {
+    if (!has_subscribed_wayarea_)
+    {
+      object_map::LoadRoadAreasFromVectorMap(private_nh_, area_points_);
+    }
+    if (!area_points_.empty())
+    {
+      has_subscribed_wayarea_ = true;
+      object_map::FillPolygonAreas(vectormap_costmap, area_points_, VECTORMAP_COSTMAP_LAYER_, grid_max_value_,
+                                   grid_min_value_, grid_min_value_, grid_max_value_, lidar_frame_, map_frame_,
+                                   tf_listener_);
+    }
+  }
+  return vectormap_costmap[VECTORMAP_COSTMAP_LAYER_];
+}
+
+grid_map::Matrix CostmapGenerator::generateCombinedCostmap()
+{
+  // assuming combined_costmap is calculated by element wise max operation
+  grid_map::GridMap combined_costmap = costmap_;
+  combined_costmap[COMBINED_COSTMAP_LAYER_].setConstant(grid_min_value_);
+  combined_costmap[COMBINED_COSTMAP_LAYER_] =
+      combined_costmap[COMBINED_COSTMAP_LAYER_].cwiseMax(combined_costmap[SENSOR_POINTS_COSTMAP_LAYER_]);
+  combined_costmap[COMBINED_COSTMAP_LAYER_] =
+      combined_costmap[COMBINED_COSTMAP_LAYER_].cwiseMax(combined_costmap[VECTORMAP_COSTMAP_LAYER_]);
+  combined_costmap[COMBINED_COSTMAP_LAYER_] =
+      combined_costmap[COMBINED_COSTMAP_LAYER_].cwiseMax(combined_costmap[OBJECTS_BOX_COSTMAP_LAYER_]);
+  combined_costmap[COMBINED_COSTMAP_LAYER_] =
+      combined_costmap[COMBINED_COSTMAP_LAYER_].cwiseMax(combined_costmap[OBJECTS_CONVEX_HULL_COSTMAP_LAYER_]);
+  return combined_costmap[COMBINED_COSTMAP_LAYER_];
+}
+
+void CostmapGenerator::publishRosMsg(const grid_map::GridMap& costmap, const std_msgs::Header& in_header)
+{
+  nav_msgs::OccupancyGrid out_occupancy_grid;
+  grid_map::GridMapRosConverter::toOccupancyGrid(costmap, COMBINED_COSTMAP_LAYER_, grid_min_value_, grid_max_value_,
+                                                 out_occupancy_grid);
+  out_occupancy_grid.header = in_header;
+  pub_occupancy_grid_.publish(out_occupancy_grid);
+
+  grid_map_msgs::GridMap out_gridmap_msg;
+  grid_map::GridMapRosConverter::toMessage(costmap, out_gridmap_msg);
+  out_gridmap_msg.info.header = in_header;
+  pub_costmap_.publish(out_gridmap_msg);
+}
diff --git a/ros/src/computing/perception/semantics/packages/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp b/ros/src/computing/perception/semantics/packages/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp
new file mode 100644
index 00000000000..734f4091f18
--- /dev/null
+++ b/ros/src/computing/perception/semantics/packages/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp
@@ -0,0 +1,43 @@
+/*
+ *  Copyright (c) 2018, Nagoya University
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions are met:
+ *
+ *  * Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ *
+ *  * Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ *  * Neither the name of Autoware nor the names of its
+ *    contributors may be used to endorse or promote products derived from
+ *    this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ *  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ *  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ *  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ *  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ ********************
+ */
+
+#include "costmap_generator/costmap_generator.h"
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "costmap_generator");
+  CostmapGenerator costmap_generator;
+  costmap_generator.init();
+  costmap_generator.run();
+  ros::spin();
+
+  return 0;
+}
diff --git a/ros/src/computing/perception/semantics/packages/costmap_generator/nodes/costmap_generator/objects_to_costmap.cpp b/ros/src/computing/perception/semantics/packages/costmap_generator/nodes/costmap_generator/objects_to_costmap.cpp
new file mode 100644
index 00000000000..063c12abf7c
--- /dev/null
+++ b/ros/src/computing/perception/semantics/packages/costmap_generator/nodes/costmap_generator/objects_to_costmap.cpp
@@ -0,0 +1,184 @@
+/*
+ *  Copyright (c) 2018, Nagoya University
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions are met:
+ *
+ *  * Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ *
+ *  * Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ *  * Neither the name of Autoware nor the names of its
+ *    contributors may be used to endorse or promote products derived from
+ *    this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ *  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ *  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ *  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ *  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ ********************/
+
+// headers in standard library
+#include <cmath>
+
+// headers in ROS
+#include <tf/transform_datatypes.h>
+
+// headers in local directory
+#include "costmap_generator/objects_to_costmap.h"
+
+// Constructor
+ObjectsToCostmap::ObjectsToCostmap() :
+NUMBER_OF_POINTS(4),
+NUMBER_OF_DIMENSIONS(2),
+OBJECTS_COSTMAP_LAYER_("objects_costmap"),
+EXPANDED_OBJECTS_COSTMAP_LAYER_("expanded_objects_costmap")
+{
+}
+
+ObjectsToCostmap::~ObjectsToCostmap()
+{
+}
+
+Eigen::MatrixXd ObjectsToCostmap::makeRectanglePoints(const autoware_msgs::DetectedObject& in_object,
+                                                     const double expand_rectangle_size)
+{
+  double length = in_object.dimensions.x + expand_rectangle_size;
+  double width = in_object.dimensions.y + expand_rectangle_size;
+  Eigen::MatrixXd origin_points(NUMBER_OF_DIMENSIONS, NUMBER_OF_POINTS);
+  origin_points << length / 2, length / 2, -length / 2, -length / 2, width / 2, -width / 2, -width / 2, width / 2;
+
+  double yaw = tf::getYaw(in_object.pose.orientation);
+  Eigen::MatrixXd rotation_matrix(NUMBER_OF_DIMENSIONS, NUMBER_OF_DIMENSIONS);
+  rotation_matrix << std::cos(yaw), -std::sin(yaw), std::sin(yaw), std::cos(yaw);
+  Eigen::MatrixXd rotated_points = rotation_matrix * origin_points;
+
+  double dx = in_object.pose.position.x;
+  double dy = in_object.pose.position.y;
+  Eigen::MatrixXd transformed_points(NUMBER_OF_DIMENSIONS, NUMBER_OF_POINTS);
+  Eigen::MatrixXd ones = Eigen::MatrixXd::Ones(1, NUMBER_OF_POINTS);
+  transformed_points.row(0) = rotated_points.row(0) + dx * ones;
+  transformed_points.row(1) = rotated_points.row(1) + dy * ones;
+  return transformed_points;
+}
+
+grid_map::Polygon ObjectsToCostmap::makePolygonFromObjectBox(const autoware_msgs::DetectedObject& in_object,
+                                                         const double expand_rectangle_size)
+{
+  grid_map::Polygon polygon;
+  polygon.setFrameId(in_object.header.frame_id);
+  Eigen::MatrixXd rectangle_points = makeRectanglePoints(in_object, expand_rectangle_size);
+  for (int col = 0; col < rectangle_points.cols(); col++)
+  {
+    polygon.addVertex(grid_map::Position(rectangle_points(0, col), rectangle_points(1, col)));
+  }
+  return polygon;
+}
+
+geometry_msgs::Point ObjectsToCostmap::makeExpandedPoint(const geometry_msgs::Point& in_centroid,
+                                                        const geometry_msgs::Point32& in_corner_point,
+                                                        const double expand_polygon_size)
+{
+  geometry_msgs::Point expanded_point;
+  if(expand_polygon_size == 0)
+  {
+    expanded_point.x = in_corner_point.x;
+    expanded_point.y = in_corner_point.y;
+    return expanded_point;
+  }
+  double theta = std::atan2(in_corner_point.y - in_centroid.y, in_corner_point.x - in_centroid.x);
+  double delta_x = expand_polygon_size * std::cos(theta);
+  double delta_y = expand_polygon_size * std::sin(theta);
+  expanded_point.x = in_corner_point.x + delta_x;
+  expanded_point.y = in_corner_point.y + delta_y;
+  return expanded_point;
+}
+
+
+grid_map::Polygon ObjectsToCostmap::makePolygonFromObjectConvexHull(const autoware_msgs::DetectedObject& in_object,
+                                                                   const double expand_polygon_size)
+{
+  grid_map::Polygon polygon;
+  polygon.setFrameId(in_object.header.frame_id);
+
+  double initial_z = in_object.convex_hull.polygon.points[0].z;
+  for (size_t index = 0; index < in_object.convex_hull.polygon.points.size(); index++)
+  {
+    if(in_object.convex_hull.polygon.points[index].z == initial_z)
+    {
+      geometry_msgs::Point centroid = in_object.pose.position;
+      geometry_msgs::Point expanded_point = makeExpandedPoint(centroid,
+        in_object.convex_hull.polygon.points[index], expand_polygon_size);
+      polygon.addVertex(grid_map::Position(expanded_point.x, expanded_point.y));
+    }
+  }
+  return polygon;
+}
+
+void ObjectsToCostmap::setCostInPolygon(const grid_map::Polygon& polygon, const std::string& gridmap_layer_name,
+                                       const float score, grid_map::GridMap& objects_costmap)
+{
+  grid_map::PolygonIterator iterators(objects_costmap, polygon);
+  for (grid_map::PolygonIterator iterator(objects_costmap, polygon); !iterator.isPastEnd(); ++iterator)
+  {
+    const float current_score = objects_costmap.at(gridmap_layer_name, *iterator);
+    if (score > current_score)
+    {
+      objects_costmap.at(gridmap_layer_name, *iterator) = score;
+    }
+  }
+}
+
+grid_map::Matrix ObjectsToCostmap::makeCostmapFromObjects(const grid_map::GridMap& costmap,
+                                                         const double expand_polygon_size,
+                                                         const double size_of_expansion_kernel,
+                                                         const autoware_msgs::DetectedObjectArray::ConstPtr& in_objects,
+                                                         const bool use_objects_convex_hull)
+{
+  grid_map::GridMap objects_costmap = costmap;
+  objects_costmap.add(OBJECTS_COSTMAP_LAYER_, 0);
+  objects_costmap.add(EXPANDED_OBJECTS_COSTMAP_LAYER_, 0);
+
+  const double not_expand_polygon_size = 0;
+  for (const auto& object : in_objects->objects)
+  {
+    grid_map::Polygon polygon, expanded_polygon;
+    if(use_objects_convex_hull)
+    {
+      polygon = makePolygonFromObjectConvexHull(object, not_expand_polygon_size);
+      expanded_polygon = makePolygonFromObjectConvexHull(object, expand_polygon_size);
+    }
+    else
+    {
+      polygon = makePolygonFromObjectBox(object, not_expand_polygon_size);
+      expanded_polygon = makePolygonFromObjectBox(object, expand_polygon_size);
+    }
+    setCostInPolygon(polygon, OBJECTS_COSTMAP_LAYER_, object.score, objects_costmap);
+    setCostInPolygon(expanded_polygon, EXPANDED_OBJECTS_COSTMAP_LAYER_, object.score, objects_costmap);
+  }
+  // Applying mean filter to expanded gridmap
+  const grid_map::SlidingWindowIterator::EdgeHandling edge_handling =
+      grid_map::SlidingWindowIterator::EdgeHandling::CROP;
+  for (grid_map::SlidingWindowIterator iterator(objects_costmap, EXPANDED_OBJECTS_COSTMAP_LAYER_, edge_handling,
+                                                size_of_expansion_kernel);
+       !iterator.isPastEnd(); ++iterator)
+  {
+    objects_costmap.at(EXPANDED_OBJECTS_COSTMAP_LAYER_, *iterator) =
+        iterator.getData().meanOfFinites();  // Blurring.
+  }
+
+  objects_costmap[OBJECTS_COSTMAP_LAYER_] =
+      objects_costmap[OBJECTS_COSTMAP_LAYER_].cwiseMax(objects_costmap[EXPANDED_OBJECTS_COSTMAP_LAYER_]);
+
+  return objects_costmap[OBJECTS_COSTMAP_LAYER_];
+}
diff --git a/ros/src/computing/perception/semantics/packages/costmap_generator/nodes/costmap_generator/points_to_costmap.cpp b/ros/src/computing/perception/semantics/packages/costmap_generator/nodes/costmap_generator/points_to_costmap.cpp
new file mode 100644
index 00000000000..9f7b8f130ff
--- /dev/null
+++ b/ros/src/computing/perception/semantics/packages/costmap_generator/nodes/costmap_generator/points_to_costmap.cpp
@@ -0,0 +1,139 @@
+/*
+ *  Copyright (c) 2018, Nagoya University
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions are met:
+ *
+ *  * Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ *
+ *  * Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ *  * Neither the name of Autoware nor the names of its
+ *    contributors may be used to endorse or promote products derived from
+ *    this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ *  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ *  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ *  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ *  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ ********************/
+
+#include "costmap_generator/points_to_costmap.h"
+
+// Constructor
+PointsToCostmap::PointsToCostmap()
+{
+}
+
+PointsToCostmap::~PointsToCostmap()
+{
+}
+
+void PointsToCostmap::initGridmapParam(const grid_map::GridMap& gridmap)
+{
+  grid_length_x_ = gridmap.getLength().x();
+  grid_length_y_ = gridmap.getLength().y();
+  grid_resolution_ = gridmap.getResolution();
+  grid_position_x_ = gridmap.getPosition().x();
+  grid_position_y_ = gridmap.getPosition().y();
+}
+
+bool PointsToCostmap::isValidInd(const grid_map::Index& grid_ind)
+{
+  bool is_valid = false;
+  int x_grid_ind = grid_ind.x();
+  int y_grid_ind = grid_ind.y();
+  if (x_grid_ind >= 0 && x_grid_ind < std::ceil(grid_length_x_ * (1 / grid_resolution_)) && y_grid_ind >= 0 &&
+      y_grid_ind < std::ceil(grid_length_y_ * (1 / grid_resolution_)))
+  {
+    is_valid = true;
+  }
+  return is_valid;
+}
+
+grid_map::Index PointsToCostmap::fetchGridIndexFromPoint(const pcl::PointXYZ& point)
+{
+  // calculate out_grid_map position
+  const double origin_x_offset = grid_length_x_ / 2.0 - grid_position_x_;
+  const double origin_y_offset = grid_length_y_ / 2.0 - grid_position_y_;
+  // coordinate conversion for making index. Set bottom left to the origin of coordinate (0, 0) in gridmap area
+  double mapped_x = (grid_length_x_ - origin_x_offset - point.x) / grid_resolution_;
+  double mapped_y = (grid_length_y_ - origin_y_offset - point.y) / grid_resolution_;
+
+  int mapped_x_ind = std::ceil(mapped_x);
+  int mapped_y_ind = std::ceil(mapped_y);
+  grid_map::Index index(mapped_x_ind, mapped_y_ind);
+  return index;
+}
+
+std::vector<std::vector<std::vector<double>>> PointsToCostmap::assignPoints2GridCell(
+    const grid_map::GridMap& gridmap, const pcl::PointCloud<pcl::PointXYZ>::Ptr& in_sensor_points)
+{
+  double y_cell_size = std::ceil(grid_length_y_ * (1 / grid_resolution_));
+  double x_cell_size = std::ceil(grid_length_x_ * (1 / grid_resolution_));
+  std::vector<double> z_vec;
+  std::vector<std::vector<double>> vec_y_z(y_cell_size, z_vec);
+  std::vector<std::vector<std::vector<double>>> vec_x_y_z(x_cell_size, vec_y_z);
+
+  for (const auto& point : *in_sensor_points)
+  {
+    grid_map::Index grid_ind = fetchGridIndexFromPoint(point);
+    if (isValidInd(grid_ind))
+    {
+      vec_x_y_z[grid_ind.x()][grid_ind.y()].push_back(point.z);
+    }
+  }
+  return vec_x_y_z;
+}
+
+grid_map::Matrix PointsToCostmap::calculateCostmap(const double maximum_height_thres,
+                                                  const double minimum_lidar_height_thres, const double grid_min_value,
+                                                  const double grid_max_value, const grid_map::GridMap& gridmap,
+                                                  const std::string& gridmap_layer_name,
+                                                  const std::vector<std::vector<std::vector<double>>> grid_vec)
+{
+  grid_map::Matrix gridmap_data = gridmap[gridmap_layer_name];
+  for (size_t x_ind = 0; x_ind < grid_vec.size(); x_ind++)
+  {
+    for (size_t y_ind = 0; y_ind < grid_vec[0].size(); y_ind++)
+    {
+      if (grid_vec[x_ind][y_ind].size() == 0)
+      {
+        gridmap_data(x_ind, y_ind) = grid_min_value;
+        continue;
+      }
+      for (const auto& z : grid_vec[x_ind][y_ind])
+      {
+        if (z > maximum_height_thres || z < minimum_lidar_height_thres)
+        {
+          continue;
+        }
+        gridmap_data(x_ind, y_ind) = grid_max_value;
+        break;
+      }
+    }
+  }
+  return gridmap_data;
+}
+
+grid_map::Matrix PointsToCostmap::makeCostmapFromSensorPoints(
+    const double maximum_height_thres, const double minimum_lidar_height_thres, const double grid_min_value,
+    const double grid_max_value, const grid_map::GridMap& gridmap, const std::string& gridmap_layer_name,
+    const pcl::PointCloud<pcl::PointXYZ>::Ptr& in_sensor_points)
+{
+  initGridmapParam(gridmap);
+  std::vector<std::vector<std::vector<double>>> grid_vec = assignPoints2GridCell(gridmap, in_sensor_points);
+  grid_map::Matrix costmap = calculateCostmap(maximum_height_thres, minimum_lidar_height_thres, grid_min_value,
+                                              grid_max_value, gridmap, gridmap_layer_name, grid_vec);
+  return costmap;
+}
diff --git a/ros/src/computing/perception/semantics/packages/costmap_generator/package.xml b/ros/src/computing/perception/semantics/packages/costmap_generator/package.xml
new file mode 100644
index 00000000000..d91b94844de
--- /dev/null
+++ b/ros/src/computing/perception/semantics/packages/costmap_generator/package.xml
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<package>
+    <name>costmap_generator</name>
+    <version>1.9.1</version>
+    <description>The costmap_generator package</description>
+    <maintainer email="cirpue49@yahoo.co.jp">ando</maintainer>
+
+    <license>BSD</license>
+
+    <buildtool_depend>catkin</buildtool_depend>
+    <buildtool_depend>autoware_build_flags</buildtool_depend>
+
+    <build_depend>roscpp</build_depend>
+    <build_depend>pcl_ros</build_depend>
+    <build_depend>tf</build_depend>
+    <build_depend>autoware_msgs</build_depend>
+    <build_depend>vector_map</build_depend>
+    <build_depend>grid_map_ros</build_depend>
+    <build_depend>object_map</build_depend>
+
+    <run_depend>roscpp</run_depend>
+    <run_depend>pcl_ros</run_depend>
+    <run_depend>tf</run_depend>
+    <run_depend>autoware_msgs</run_depend>
+    <run_depend>vector_map</run_depend>
+    <run_depend>grid_map_ros</run_depend>
+    <run_depend>object_map</run_depend>
+
+    <export>
+    </export>
+</package>
diff --git a/ros/src/computing/perception/semantics/packages/costmap_generator/test/src/test_costmap_generator.cpp b/ros/src/computing/perception/semantics/packages/costmap_generator/test/src/test_costmap_generator.cpp
new file mode 100644
index 00000000000..fd862aeb72a
--- /dev/null
+++ b/ros/src/computing/perception/semantics/packages/costmap_generator/test/src/test_costmap_generator.cpp
@@ -0,0 +1,457 @@
+/*
+ *  Copyright (c) 2018, Nagoya University
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions are met:
+ *
+ *  * Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ *
+ *  * Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ *  * Neither the name of Autoware nor the names of its
+ *    contributors may be used to endorse or promote products derived from
+ *    this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ *  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ *  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ *  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ *  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ ********************/
+
+#include <ros/ros.h>
+#include <gtest/gtest.h>
+
+#include "costmap_generator/costmap_generator.h"
+#include "test_costmap_generator.hpp"
+
+class TestSuite : public ::testing::Test
+{
+public:
+  TestSuite()
+  {
+  }
+  ~TestSuite()
+  {
+  }
+
+  TestClass test_obj_;
+
+protected:
+  void SetUp()
+  {
+    test_obj_.objects2costmap_ = new ObjectsToCostmap();
+    test_obj_.points2costmap_ = new PointsToCostmap();
+    test_obj_.dummy_point_ = new geometry_msgs::Point;
+    test_obj_.dummy_pcl_point_ = new pcl::PointXYZ;
+    test_obj_.dummy_object_ = new autoware_msgs::DetectedObject;
+    test_obj_.dummy_costmap_ = new grid_map::GridMap;
+    test_obj_.dummy_objects_array_.reset(new autoware_msgs::DetectedObjectArray);
+
+    test_obj_.fillDummyObjectParam(test_obj_.dummy_object_);
+    test_obj_.fillDummyCostmapParam(test_obj_.dummy_costmap_);
+    test_obj_.fillDummyObjectsArrayParam(test_obj_.dummy_objects_array_);
+    test_obj_.initDummy3DVecParam();
+
+  };
+  void TearDown()
+  {
+    delete test_obj_.objects2costmap_;
+    delete test_obj_.points2costmap_;
+    delete test_obj_.dummy_point_;
+    delete test_obj_.dummy_pcl_point_;
+    delete test_obj_.dummy_object_;
+    delete test_obj_.dummy_costmap_;
+  };
+};
+
+TEST_F(TestSuite, CheckMakeRectanglePoints)
+{
+  test_obj_.dummy_point_->x = 2;
+  test_obj_.dummy_point_->y = 2;
+  test_obj_.dummy_point_->z = 0;
+  geometry_msgs::Vector3 dimensions;
+  dimensions.x = 2;
+  dimensions.y = 4;
+  dimensions.z = 1;
+  const double pi = std::atan(1) * 4;
+  geometry_msgs::Quaternion quat = tf::createQuaternionMsgFromYaw(pi / 2);
+
+  autoware_msgs::DetectedObject object;
+  object.pose.position = *test_obj_.dummy_point_;
+  object.pose.orientation = quat;
+  object.dimensions = dimensions;
+
+  Eigen::MatrixXd rectangle_points = test_obj_.makeRectanglePoints(object, 0);
+
+  // following rep103 ros coordinate
+  const double expected_x = 0;
+  const double expected_y = 3;
+  const double buffer = 0.01;
+  EXPECT_NEAR(expected_x, rectangle_points(0, 0), buffer);
+  EXPECT_DOUBLE_EQ(expected_y, rectangle_points(1, 0));
+}
+
+TEST_F(TestSuite, CheckAssignPoints2GridCell)
+{
+
+  pcl::PointCloud<pcl::PointXYZ>::Ptr in_sensor_points(new pcl::PointCloud<pcl::PointXYZ>);
+  test_obj_.dummy_pcl_point_->x = 0.5;
+  test_obj_.dummy_pcl_point_->y = 0.5;
+  test_obj_.dummy_pcl_point_->z = 100;
+  in_sensor_points->push_back(*test_obj_.dummy_pcl_point_);
+
+
+  std::vector<std::vector<std::vector<double>>> grid_vec =
+    test_obj_.assignPoints2GridCell(*test_obj_.dummy_costmap_,
+                                    in_sensor_points);
+
+  const double expected_value = 100;
+  EXPECT_EQ(expected_value, grid_vec[5][5][0]);
+}
+
+TEST_F(TestSuite, CheckFetchGridIndexFromPoint)
+{
+
+  test_obj_.dummy_pcl_point_->x = 3.5;
+  test_obj_.dummy_pcl_point_->y = 0.5;
+  test_obj_.dummy_pcl_point_->z = 100;
+
+  grid_map::Index index =
+  test_obj_.fetchGridIndexFromPoint(*test_obj_.dummy_costmap_,
+                                    *test_obj_.dummy_pcl_point_);
+
+
+  const double expected_x_ind = 2;
+  const double expected_y_ind = 5;
+  EXPECT_EQ(expected_x_ind, index.x());
+  EXPECT_EQ(expected_y_ind, index.y());
+}
+
+TEST_F(TestSuite, CheckValidIndex)
+{
+  grid_map::Index index(2,5);
+  bool is_valid = test_obj_.isValidInd(*test_obj_.dummy_costmap_, index);
+
+  bool expected_valid = true;
+  EXPECT_EQ(expected_valid, is_valid);
+}
+
+TEST_F(TestSuite, CheckNonValidIndex)
+{
+  grid_map::Index index(2,10);
+  bool is_valid = test_obj_.isValidInd(*test_obj_.dummy_costmap_, index);
+
+  bool expected_valid = false;
+  EXPECT_EQ(expected_valid, is_valid);
+}
+
+TEST_F(TestSuite, CheckCalculationPointsCostmap)
+{
+  test_obj_.dummy_3d_vec_->at(5)[5].push_back(2.2);
+
+  grid_map::Matrix costmap_mat = test_obj_.calculateCostmap(
+    test_obj_.dummy_maximum_lidar_height_thres_,
+    test_obj_.dummy_minimum_lidar_height_thres_,
+    test_obj_.dummy_grid_min_value_,
+    test_obj_.dummy_grid_max_value_,
+    *test_obj_.dummy_costmap_,
+    test_obj_.dummy_layer_name_,
+    *test_obj_.dummy_3d_vec_);
+  double expected_cost = 1.0;
+  EXPECT_DOUBLE_EQ(expected_cost, costmap_mat(5,5));
+}
+
+TEST_F(TestSuite, CheckHeightThresholdForCost)
+{
+  test_obj_.dummy_3d_vec_->at(5)[5].push_back(3.2);
+
+  grid_map::Matrix costmap_mat = test_obj_.calculateCostmap(
+    test_obj_.dummy_maximum_lidar_height_thres_,
+    test_obj_.dummy_minimum_lidar_height_thres_,
+    test_obj_.dummy_grid_min_value_,
+    test_obj_.dummy_grid_max_value_,
+    *test_obj_.dummy_costmap_,
+    test_obj_.dummy_layer_name_,
+    *test_obj_.dummy_3d_vec_);
+  double expected_cost = 0.0;
+  EXPECT_DOUBLE_EQ(expected_cost, costmap_mat(5,5));
+}
+
+TEST_F(TestSuite, CheckMakeExpandedPoints)
+{
+  double expand_polygon_size = 1;
+
+  geometry_msgs::Point in_centroid;
+  in_centroid.x = 0;
+  in_centroid.y = 0;
+  in_centroid.z = 0;
+
+  geometry_msgs::Point32 in_corner_point;
+  in_corner_point.x = 1;
+  in_corner_point.y = 1;
+  in_corner_point.z = 1;
+
+  geometry_msgs::Point expanded_point = test_obj_.makeExpandedPoint(in_centroid, in_corner_point, expand_polygon_size);
+  double expected_x = 1.707109;
+  double expected_y = 1.707109;
+  const double buffer = 0.01;
+  EXPECT_NEAR(expected_x, expanded_point.x, buffer);
+  EXPECT_NEAR(expected_y, expanded_point.y, buffer);
+}
+
+TEST_F(TestSuite, ChecMakePolygonFromObjectConvexhull)
+{
+  double expand_polygon_size = 0;
+  geometry_msgs::Point32 point;
+  point.x = -1;
+  point.y = -1;
+  point.z = 0;
+  test_obj_.dummy_object_->convex_hull.polygon.points.push_back(point);
+  point.x = 1;
+  point.y = 1;
+  point.z = 0;
+  test_obj_.dummy_object_->convex_hull.polygon.points.push_back(point);
+  point.x = 0;
+  point.y = 2;
+  point.z = 0;
+  test_obj_.dummy_object_->convex_hull.polygon.points.push_back(point);
+
+  grid_map::Polygon polygon =
+  test_obj_.makePolygonFromObjectConvexHull(*test_obj_.dummy_object_,
+                                                expand_polygon_size);
+  double expected_0_x = -1;
+  double expected_1_y =  1;
+  EXPECT_EQ(expected_0_x, polygon[0].x());
+  EXPECT_EQ(expected_1_y, polygon[1].y());
+}
+
+TEST_F(TestSuite, ChecMakePolygonFromObjectConvexhullDofferentHeight)
+{
+  double expand_polygon_size = 0;
+  geometry_msgs::Point32 point;
+  point.x = -1;
+  point.y = -1;
+  point.z = 0;
+  test_obj_.dummy_object_->convex_hull.polygon.points.push_back(point);
+  point.x = -1;
+  point.y = 3;
+  point.z = 0;
+  test_obj_.dummy_object_->convex_hull.polygon.points.push_back(point);
+  point.x = 1;
+  point.y = 1;
+  point.z = 0;
+  test_obj_.dummy_object_->convex_hull.polygon.points.push_back(point);
+  point.x = 0;
+  point.y = 2;
+  point.z = 3;
+  test_obj_.dummy_object_->convex_hull.polygon.points.push_back(point);
+
+  grid_map::Polygon polygon = test_obj_.makePolygonFromObjectConvexHull(
+                                  *test_obj_.dummy_object_,
+                                   expand_polygon_size);
+  int num_vertices = polygon.nVertices();
+  double expected_num_vertices = 3;
+  EXPECT_EQ(expected_num_vertices, num_vertices);
+}
+
+TEST_F(TestSuite, CheckSetCostInPolygon)
+{
+  grid_map::Polygon polygon;
+  polygon.setFrameId(test_obj_.dummy_layer_name_);
+  polygon.addVertex(grid_map::Position(-1, -1));
+  polygon.addVertex(grid_map::Position(1, -1));
+  polygon.addVertex(grid_map::Position(1, 1));
+  polygon.addVertex(grid_map::Position(-1, 1));
+
+
+  float score = 1;
+  test_obj_.setCostInPolygon(polygon, test_obj_.dummy_layer_name_,
+                             score, *test_obj_.dummy_costmap_);
+  float expected_score = 1;
+  EXPECT_EQ(expected_score,
+    test_obj_.dummy_costmap_->atPosition(test_obj_.dummy_layer_name_, grid_map::Position(0, 0)));
+}
+
+TEST_F(TestSuite, CheckMakeCostmapFromObjects)
+{
+  geometry_msgs::Point32 point;
+  point.x = -1;
+  point.y = -1;
+  point.z = 0;
+  test_obj_.dummy_object_->convex_hull.polygon.points.push_back(point);
+  point.x =  1;
+  point.y = -1;
+  point.z = 0;
+  test_obj_.dummy_object_->convex_hull.polygon.points.push_back(point);
+  point.x = 1;
+  point.y = 1;
+  point.z = 0;
+  test_obj_.dummy_object_->convex_hull.polygon.points.push_back(point);
+  point.x = 0;
+  point.y = 2;
+  point.z = 0;
+  test_obj_.dummy_object_->convex_hull.polygon.points.push_back(point);
+  autoware_msgs::DetectedObjectArray::Ptr dummy_objects(new autoware_msgs::DetectedObjectArray);
+  dummy_objects->objects.push_back(*test_obj_.dummy_object_);
+
+
+  double expand_polygon_size = 0;
+  double size_of_expansion_kernel = 1;
+  bool use_objects_convex_hull = true;
+  grid_map::Matrix gridmap_mat = test_obj_.makeCostmapFromObjects(
+                                          *test_obj_.dummy_costmap_,
+                                          expand_polygon_size,
+                                          size_of_expansion_kernel,
+                                          dummy_objects,
+                                          use_objects_convex_hull);
+  /*
+    0 0 0 0 0 0 0 0 0 0
+    0 0 0 0 0 0 0 0 0 0
+    0 0 0 0 0 0 0 0 0 0
+    0 0 0 0 0 0 0 0 0 0
+    0 0 0 0 1 1 0 0 0 0
+    0 0 0 0 1 1 0 0 0 0
+    0 0 0 0 0 0 0 0 0 0
+    0 0 0 0 0 0 0 0 0 0
+    0 0 0 0 0 0 0 0 0 0
+    0 0 0 0 0 0 0 0 0 0
+  */
+  float expected_score = 1;
+  EXPECT_EQ(expected_score,gridmap_mat(5,5));
+}
+
+TEST_F(TestSuite, CheckMakeCostmapFromObjectsExpandSize)
+{
+  double expand_polygon_size = 1;
+  double size_of_expansion_kernel = 1;
+  bool use_objects_convex_hull = true;
+  grid_map::Matrix gridmap_mat = test_obj_.makeCostmapFromObjects(
+                                          *test_obj_.dummy_costmap_,
+                                          expand_polygon_size,
+                                          size_of_expansion_kernel,
+                                          test_obj_.dummy_objects_array_,
+                                          use_objects_convex_hull);
+  /*
+    0 0 0 0 0 0 0 0 0 0
+    0 0 0 0 0 0 0 0 0 0
+    0 0 0 0 0 0 0 0 0 0
+    0 0 0 1 1 1 1 0 0 0
+    0 0 1 1 1 1 1 0 0 0
+    0 0 0 1 1 1 1 0 0 0
+    0 0 0 0 0 0 1 0 0 0
+    0 0 0 0 0 0 0 0 0 0
+    0 0 0 0 0 0 0 0 0 0
+    0 0 0 0 0 0 0 0 0 0
+  */
+  float expected_score = 1;
+  EXPECT_EQ(expected_score,gridmap_mat(6,6));
+}
+
+TEST_F(TestSuite, CheckMakeCostmapFromObjectsBlur)
+{
+  double expand_polygon_size = 0;
+  double size_of_expansion_kernel = 3;
+  bool use_objects_convex_hull = true;
+  grid_map::Matrix gridmap_mat = test_obj_.makeCostmapFromObjects(
+                                          *test_obj_.dummy_costmap_,
+                                          expand_polygon_size,
+                                          size_of_expansion_kernel,
+                                          test_obj_.dummy_objects_array_,
+                                          use_objects_convex_hull);
+  /*
+  0  0  0           0           0           0 0.000228624 0.000635066 0.000683101 0.000629966
+  0  0  0           0           0  0.00137174  0.00358177  0.00346354  0.00183676  0.00128529
+  0  0  0           0   0.0123457   0.0306356   0.0267264   0.0117492  0.00456194  0.00264567
+  0  0  0    0.111111    0.262003    0.204948   0.0719709    0.024008  0.00819001   0.0043936
+  0  0  0    0.234568           1           1    0.105625    0.033391    0.010964  0.00580402
+  0  0  0    0.248285           1           1   0.0989154   0.0330867   0.0112765  0.00618194
+  0  0  0    0.138698    0.207193    0.110906   0.0598489    0.024047  0.00904712  0.00537396
+  0  0  0   0.0154109    0.040335   0.0405389    0.024572   0.0130139  0.00573816  0.00386448
+  0  0  0  0.00171233  0.00641596  0.00985468  0.00865679  0.00553543  0.00302765  0.00242517
+  0  0  0 0.000285388  0.00140228  0.00294549  0.00357616   0.0029614  0.00192074  0.00184339
+  */
+  double expected_score = 0.0598489;
+  double buffer = 0.001;
+  EXPECT_NEAR(expected_score,gridmap_mat(6,6), buffer);
+}
+
+TEST_F(TestSuite, CheckMakeCostmapFromObjectsBox)
+{
+  autoware_msgs::DetectedObjectArray::Ptr dummy_objects(new autoware_msgs::DetectedObjectArray);
+  dummy_objects->objects.push_back(*test_obj_.dummy_object_);
+
+  double expand_polygon_size = 1;
+  double size_of_expansion_kernel = 1;
+  bool use_objects_convex_hull = false;
+  grid_map::Matrix gridmap_mat = test_obj_.makeCostmapFromObjects(
+                                          *test_obj_.dummy_costmap_,
+                                          expand_polygon_size,
+                                          size_of_expansion_kernel,
+                                          dummy_objects,
+                                          use_objects_convex_hull);
+  /*
+  0 0 0 0 0 0 0 0 0 0
+  0 0 0 0 0 0 0 0 0 0
+  0 0 0 0 0 0 0 0 0 0
+  0 0 0 0 0 0 0 0 0 0
+  0 0 0 0 1 1 0 0 0 0
+  0 0 0 0 1 1 0 0 0 0
+  0 0 0 0 1 1 0 0 0 0
+  0 0 0 0 0 0 0 0 0 0
+  0 0 0 0 0 0 0 0 0 0
+  0 0 0 0 0 0 0 0 0 0
+  */
+  float expected_score = 1;
+  EXPECT_EQ(expected_score,gridmap_mat(5,5));
+}
+
+TEST_F(TestSuite, CheckMakeCostmapFromObjectsBoxBlur)
+{
+  test_obj_.dummy_object_->pose.position.x = -4;
+  test_obj_.dummy_object_->pose.position.y = -3;
+  test_obj_.dummy_object_->pose.position.z = 0;
+  autoware_msgs::DetectedObjectArray::Ptr dummy_objects(new autoware_msgs::DetectedObjectArray);
+  dummy_objects->objects.push_back(*test_obj_.dummy_object_);
+
+  double expand_polygon_size = 1;
+  double size_of_expansion_kernel = 3;
+  bool use_objects_convex_hull = false;
+  grid_map::Matrix gridmap_mat = test_obj_.makeCostmapFromObjects(
+                                          *test_obj_.dummy_costmap_,
+                                          expand_polygon_size,
+                                          size_of_expansion_kernel,
+                                          dummy_objects,
+                                          use_objects_convex_hull);
+  /*
+  0 0 0 0 0 0           0           0           0           0
+  0 0 0 0 0 0           0           0           0           0
+  0 0 0 0 0 0           0           0           0           0
+  0 0 0 0 0 0           0           0           0           0
+  0 0 0 0 0 0           0           0           0 0.000228624
+  0 0 0 0 0 0           0           0  0.00137174  0.00537266
+  0 0 0 0 0 0           0   0.0123457   0.0306356   0.0406435
+  0 0 0 0 0 0    0.111111    0.262003    0.206481    0.115094
+  0 0 0 0 0 0    0.234568           1           1    0.196272
+  0 0 0 0 0 0    0.372428           1           1    0.263083
+  */
+  float expected_score = 0.11111;
+  float buffer = 0.00001;
+  EXPECT_NEAR(expected_score, gridmap_mat(7,6), buffer);
+}
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  ros::init(argc, argv, "TestNode");
+  return RUN_ALL_TESTS();
+}
diff --git a/ros/src/computing/perception/semantics/packages/costmap_generator/test/src/test_costmap_generator.hpp b/ros/src/computing/perception/semantics/packages/costmap_generator/test/src/test_costmap_generator.hpp
new file mode 100644
index 00000000000..063e965aebd
--- /dev/null
+++ b/ros/src/computing/perception/semantics/packages/costmap_generator/test/src/test_costmap_generator.hpp
@@ -0,0 +1,266 @@
+/*
+ *  Copyright (c) 2018, Nagoya University
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions are met:
+ *
+ *  * Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ *
+ *  * Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ *  * Neither the name of Autoware nor the names of its
+ *    contributors may be used to endorse or promote products derived from
+ *    this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ *  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ *  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ *  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ *  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ ********************/
+
+
+#include "costmap_generator/costmap_generator.h"
+
+class TestClass
+{
+private:
+  const double dummy_grid_length_x_;
+  const double dummy_grid_length_y_;
+  const double dummy_grid_resolution_;
+  const double dummy_grid_position_x_;
+  const double dummy_grid_position_y_;
+  const double dummy_initialize_cost_;
+public:
+  TestClass();
+
+  const double dummy_maximum_lidar_height_thres_;
+  const double dummy_minimum_lidar_height_thres_;
+  const double dummy_grid_min_value_;
+  const double dummy_grid_max_value_;
+  const std::string dummy_layer_name_;
+
+  geometry_msgs::Point* dummy_point_;
+
+  pcl::PointXYZ* dummy_pcl_point_;
+
+  autoware_msgs::DetectedObject* dummy_object_;
+
+  autoware_msgs::DetectedObjectArray::Ptr dummy_objects_array_;
+
+  grid_map::GridMap* dummy_costmap_;
+
+  PointsToCostmap *points2costmap_;
+
+  std::unique_ptr<std::vector<std::vector<std::vector<double>>>> dummy_3d_vec_;
+
+  void fillDummyObjectParam(autoware_msgs::DetectedObject* dummy_object);
+
+  void fillDummyObjectsArrayParam(autoware_msgs::DetectedObjectArray::Ptr dummy_objects_array);
+
+  void fillDummyCostmapParam(grid_map::GridMap* dummy_costmap);
+
+  void initDummy3DVecParam();
+
+
+  std::vector<std::vector<std::vector<double>>>
+  assignPoints2GridCell(const grid_map::GridMap& gridmap, const pcl::PointCloud<pcl::PointXYZ>::Ptr& in_sensor_points);
+
+  grid_map::Index fetchGridIndexFromPoint(const grid_map::GridMap& gridmap, const pcl::PointXYZ& point);
+
+  bool isValidInd(const grid_map::GridMap& gridmap, const grid_map::Index& grid_ind);
+
+  grid_map::Matrix calculateCostmap(const double maximum_height_thres,
+                                    const double minimum_lidar_height_thres, const double grid_min_value,
+                                    const double grid_max_value, const grid_map::GridMap& gridmap,
+                                    const std::string& gridmap_layer_name,
+                                    const std::vector<std::vector<std::vector<double>>> grid_vec);
+
+
+  ObjectsToCostmap *objects2costmap_;
+  Eigen::MatrixXd makeRectanglePoints(const autoware_msgs::DetectedObject& in_object,
+    const double expand_rectangle_size);
+  geometry_msgs::Point makeExpandedPoint(const geometry_msgs::Point& in_centroid,
+                                         const geometry_msgs::Point32& in_corner_point,
+                                         const double expand_polygon_size);
+
+  grid_map::Polygon makePolygonFromObjectConvexHull(const autoware_msgs::DetectedObject& in_object,
+                                                    const double expand_polygon_size);
+
+  void setCostInPolygon(const grid_map::Polygon& polygon, const std::string& gridmap_layer_name,
+                                       const float score, grid_map::GridMap& objects_costmap);
+
+  grid_map::Matrix makeCostmapFromObjects(const grid_map::GridMap& costmap,
+                                          const double expand_polygon_size,
+                                          const double size_of_expansion_kernel,
+                                          const autoware_msgs::DetectedObjectArray::ConstPtr& in_objects,
+                                          const bool use_objects_convex_hull);
+};
+
+TestClass::TestClass():
+dummy_grid_length_x_(10),
+dummy_grid_length_y_(10),
+dummy_grid_resolution_(1),
+dummy_grid_position_x_(0),
+dummy_grid_position_y_(0),
+dummy_initialize_cost_(0),
+dummy_maximum_lidar_height_thres_(3.0),
+dummy_minimum_lidar_height_thres_(-2.0),
+dummy_grid_min_value_(0.0),
+dummy_grid_max_value_(1.0),
+dummy_layer_name_("test")
+{
+
+}
+
+void TestClass::fillDummyCostmapParam(grid_map::GridMap* dummy_costmap)
+{
+  dummy_costmap->setGeometry(grid_map::Length(dummy_grid_length_x_, dummy_grid_length_y_), dummy_grid_resolution_,
+                      grid_map::Position(dummy_grid_position_x_, dummy_grid_position_y_));
+
+  dummy_costmap->add(dummy_layer_name_, dummy_initialize_cost_);
+}
+
+void TestClass::fillDummyObjectParam(autoware_msgs::DetectedObject* dummy_object)
+{
+  dummy_object->header.frame_id = "test";
+  dummy_object->pose.position.x = 0;
+  dummy_object->pose.position.y = 0;
+  dummy_object->pose.position.z = 0;
+  dummy_object->pose.orientation.x = 0;
+  dummy_object->pose.orientation.y = 0;
+  dummy_object->pose.orientation.z = 0;
+  dummy_object->pose.orientation.w = 1;
+  dummy_object->dimensions.x = 2;
+  dummy_object->dimensions.y = 1.5;
+  dummy_object->dimensions.z = 2;
+  dummy_object->score = 1;
+}
+
+void TestClass::fillDummyObjectsArrayParam(autoware_msgs::DetectedObjectArray::Ptr dummy_objects_array)
+{
+  autoware_msgs::DetectedObject object;
+  object.header.frame_id = "test";
+  geometry_msgs::Point32 point;
+  point.x = -1;
+  point.y = -1;
+  point.z = 0;
+  object.convex_hull.polygon.points.push_back(point);
+  point.x =  1;
+  point.y = -1;
+  point.z = 0;
+  object.convex_hull.polygon.points.push_back(point);
+  point.x = 1;
+  point.y = 1;
+  point.z = 0;
+  object.convex_hull.polygon.points.push_back(point);
+  point.x = 0;
+  point.y = 2;
+  point.z = 0;
+  object.convex_hull.polygon.points.push_back(point);
+  object.pose.position.x = 0;
+  object.pose.position.y = 0;
+  object.pose.position.z = 0;
+  object.score = 1;
+  dummy_objects_array->objects.push_back(object);
+}
+
+void TestClass::initDummy3DVecParam()
+{
+  double y_cell_size = std::ceil(dummy_grid_length_y_ * (1 / dummy_grid_resolution_));
+  double x_cell_size = std::ceil(dummy_grid_length_x_ * (1 / dummy_grid_resolution_));
+  std::vector<double> z_vec;
+  std::vector<std::vector<double>> vec_y_z(y_cell_size, z_vec);
+  dummy_3d_vec_.reset(new
+    std::vector<std::vector<std::vector<double>>>(x_cell_size, vec_y_z));
+}
+
+
+Eigen::MatrixXd TestClass::makeRectanglePoints(const autoware_msgs::DetectedObject& in_object,
+                                               const double expanded_rectangle_size)
+{
+  return objects2costmap_->makeRectanglePoints(in_object, expanded_rectangle_size);
+}
+
+std::vector<std::vector<std::vector<double>>> TestClass::assignPoints2GridCell(
+    const grid_map::GridMap& gridmap, const pcl::PointCloud<pcl::PointXYZ>::Ptr& in_sensor_points)
+{
+  points2costmap_->grid_length_x_ = gridmap.getLength()[0];
+  points2costmap_->grid_length_y_ = gridmap.getLength()[1];
+  points2costmap_->grid_resolution_ = gridmap.getResolution();
+  points2costmap_->grid_position_x_ = gridmap.getPosition()[0];
+  points2costmap_->grid_position_y_ = gridmap.getPosition()[1];
+  return points2costmap_->assignPoints2GridCell(gridmap, in_sensor_points);
+}
+
+grid_map::Index TestClass::fetchGridIndexFromPoint(const grid_map::GridMap& gridmap, const pcl::PointXYZ& point)
+{
+  points2costmap_->grid_length_x_ = gridmap.getLength()[0];
+  points2costmap_->grid_length_y_ = gridmap.getLength()[1];
+  points2costmap_->grid_resolution_ = gridmap.getResolution();
+  points2costmap_->grid_position_x_ = gridmap.getPosition()[0];
+  points2costmap_->grid_position_y_ = gridmap.getPosition()[1];
+  return points2costmap_->fetchGridIndexFromPoint(point);
+}
+
+bool TestClass::isValidInd(const grid_map::GridMap& gridmap, const grid_map::Index& grid_ind)
+{
+  points2costmap_->grid_length_x_ = gridmap.getLength()[0];
+  points2costmap_->grid_length_y_ = gridmap.getLength()[1];
+  points2costmap_->grid_resolution_ = gridmap.getResolution();
+  points2costmap_->grid_position_x_ = gridmap.getPosition()[0];
+  points2costmap_->grid_position_y_ = gridmap.getPosition()[1];
+  return points2costmap_->isValidInd(grid_ind);
+}
+
+grid_map::Matrix TestClass::calculateCostmap(const double maximum_height_thres,
+                                                  const double minimum_lidar_height_thres, const double grid_min_value,
+                                                  const double grid_max_value, const grid_map::GridMap& gridmap,
+                                                  const std::string& gridmap_layer_name,
+                                                  const std::vector<std::vector<std::vector<double>>> grid_vec)
+{
+  return points2costmap_->calculateCostmap(maximum_height_thres, minimum_lidar_height_thres,
+                                          grid_min_value, grid_max_value,
+                                          gridmap, gridmap_layer_name, grid_vec);
+}
+
+geometry_msgs::Point TestClass::makeExpandedPoint(const geometry_msgs::Point& in_centroid,
+                                       const geometry_msgs::Point32& in_corner_point,
+                                       const double expand_polygon_size)
+{
+  return objects2costmap_->makeExpandedPoint(in_centroid, in_corner_point, expand_polygon_size);
+}
+
+grid_map::Polygon TestClass::makePolygonFromObjectConvexHull(const autoware_msgs::DetectedObject& in_object,
+                                                  const double expand_polygon_size)
+{
+  return objects2costmap_->makePolygonFromObjectConvexHull(in_object, expand_polygon_size);
+}
+
+void TestClass::setCostInPolygon(const grid_map::Polygon& polygon, const std::string& gridmap_layer_name,
+                                     const float score, grid_map::GridMap& objects_costmap)
+{
+  objects2costmap_->setCostInPolygon(polygon, gridmap_layer_name, score, objects_costmap);
+}
+
+grid_map::Matrix TestClass::makeCostmapFromObjects(const grid_map::GridMap& costmap,
+                                       const double expand_polygon_size,
+                                       const double size_of_expansion_kernel,
+                                       const autoware_msgs::DetectedObjectArray::ConstPtr& in_objects,
+                                       const bool use_objects_convex_hull)
+{
+  return objects2costmap_->makeCostmapFromObjects(costmap,
+                                                  expand_polygon_size,
+                                                  size_of_expansion_kernel,
+                                                  in_objects,
+                                                  use_objects_convex_hull);
+}
diff --git a/ros/src/computing/perception/semantics/packages/object_map/CMakeLists.txt b/ros/src/computing/perception/semantics/packages/object_map/CMakeLists.txt
index 2c71196477b..990ecf5a83b 100644
--- a/ros/src/computing/perception/semantics/packages/object_map/CMakeLists.txt
+++ b/ros/src/computing/perception/semantics/packages/object_map/CMakeLists.txt
@@ -33,6 +33,8 @@ if (OPENMP_FOUND)
 endif ()
 
 catkin_package(
+        INCLUDE_DIRS include
+        LIBRARIES object_map_utils_lib
         CATKIN_DEPENDS
         roscpp
         pcl_ros
@@ -54,8 +56,8 @@ include_directories(
 )
 ### object_map_utils ###
 add_library(object_map_utils_lib
-        include/object_map_utils.cpp
-        include/object_map_utils.hpp
+        include/object_map/object_map_utils.cpp
+        include/object_map/object_map_utils.hpp
         )
 target_link_libraries(object_map_utils_lib
         ${vector_map_LIBRARIES}
@@ -93,7 +95,7 @@ target_link_libraries(potential_field
 ### grid_map_filter ###
 add_library(grid_map_filter_lib
         nodes/grid_map_filter/grid_map_filter.h
-        include/object_map_utils.hpp
+        include/object_map/object_map_utils.hpp
         nodes/grid_map_filter/grid_map_filter.cpp
         )
 target_link_libraries(grid_map_filter_lib
@@ -113,7 +115,7 @@ target_link_libraries(grid_map_filter
 ### wayarea2grid ###
 add_library(wayarea2grid_lib
         nodes/wayarea2grid/wayarea2grid.h
-        include/object_map_utils.hpp
+        include/object_map/object_map_utils.hpp
         nodes/wayarea2grid/wayarea2grid.cpp
         )
 target_link_libraries(wayarea2grid_lib
@@ -147,7 +149,12 @@ install(TARGETS
 install(DIRECTORY launch/
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
         PATTERN ".svn" EXCLUDE)
+        
+install(DIRECTORY include/${PROJECT_NAME}/
+        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+        PATTERN ".svn" EXCLUDE
+        )
 
 install(DIRECTORY config/
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
-        PATTERN ".svn" EXCLUDE)
+        PATTERN ".svn" EXCLUDE)
\ No newline at end of file
diff --git a/ros/src/computing/perception/semantics/packages/object_map/include/object_map_utils.cpp b/ros/src/computing/perception/semantics/packages/object_map/include/object_map/object_map_utils.cpp
similarity index 99%
rename from ros/src/computing/perception/semantics/packages/object_map/include/object_map_utils.cpp
rename to ros/src/computing/perception/semantics/packages/object_map/include/object_map/object_map_utils.cpp
index 4100d968b63..43a7d9ed332 100644
--- a/ros/src/computing/perception/semantics/packages/object_map/include/object_map_utils.cpp
+++ b/ros/src/computing/perception/semantics/packages/object_map/include/object_map/object_map_utils.cpp
@@ -16,7 +16,7 @@
  *
  */
 
-#include "object_map_utils.hpp"
+#include "object_map/object_map_utils.hpp"
 
 namespace object_map
 {
diff --git a/ros/src/computing/perception/semantics/packages/object_map/include/object_map_utils.hpp b/ros/src/computing/perception/semantics/packages/object_map/include/object_map/object_map_utils.hpp
similarity index 100%
rename from ros/src/computing/perception/semantics/packages/object_map/include/object_map_utils.hpp
rename to ros/src/computing/perception/semantics/packages/object_map/include/object_map/object_map_utils.hpp
diff --git a/ros/src/computing/perception/semantics/packages/object_map/nodes/grid_map_filter/grid_map_filter.h b/ros/src/computing/perception/semantics/packages/object_map/nodes/grid_map_filter/grid_map_filter.h
index 905cd1cc20b..628a6679997 100755
--- a/ros/src/computing/perception/semantics/packages/object_map/nodes/grid_map_filter/grid_map_filter.h
+++ b/ros/src/computing/perception/semantics/packages/object_map/nodes/grid_map_filter/grid_map_filter.h
@@ -34,7 +34,7 @@
 #include <cv_bridge/cv_bridge.h>
 #include <opencv2/highgui/highgui.hpp>
 
-#include "object_map_utils.hpp"
+#include "object_map/object_map_utils.hpp"
 
 namespace object_map
 {
diff --git a/ros/src/computing/perception/semantics/packages/object_map/nodes/wayarea2grid/wayarea2grid.h b/ros/src/computing/perception/semantics/packages/object_map/nodes/wayarea2grid/wayarea2grid.h
index cbb05ef4d17..da56abad094 100755
--- a/ros/src/computing/perception/semantics/packages/object_map/nodes/wayarea2grid/wayarea2grid.h
+++ b/ros/src/computing/perception/semantics/packages/object_map/nodes/wayarea2grid/wayarea2grid.h
@@ -35,7 +35,7 @@
 #include <cv_bridge/cv_bridge.h>
 #include <opencv2/highgui/highgui.hpp>
 
-#include "object_map_utils.hpp"
+#include "object_map/object_map_utils.hpp"
 
 namespace object_map
 {
diff --git a/ros/src/util/packages/runtime_manager/scripts/computing.yaml b/ros/src/util/packages/runtime_manager/scripts/computing.yaml
index 6144e595357..5e96beb751e 100755
--- a/ros/src/util/packages/runtime_manager/scripts/computing.yaml
+++ b/ros/src/util/packages/runtime_manager/scripts/computing.yaml
@@ -371,6 +371,16 @@ subs :
         sync :
           func : self.button_synchronization.GetValue()
 
+    - name : costmap_generator
+      desc : costmap_generator desc sample
+      cmd  : roslaunch costmap_generator costmap_generator.launch
+      param: costmap_generator_param
+      gui  :
+        dialog_width  : 400
+        dialog_height : 400
+        sync :
+          func : self.button_synchronization.GetValue()
+
   - name : Prediction
     desc : Prediction desc sample
     subs :
@@ -5313,6 +5323,173 @@ params :
         dash      : ''
         delim     : ':='
 
+  - name  : costmap_generator_param
+    vars  :
+    - name  : use_objects_box
+      desc  : use bouding box from DetectedObjectArray
+      label : use_objects_box
+      kind  : checkbox
+      v     : False
+      cmd_param :
+        dash      : ''
+        delim     : ':='
+    - name  : use_objects_convex_hull
+      desc  : use convex hull from DetectedObjectArray
+      label : use_objects_convex_hull
+      kind  : checkbox
+      v     : True
+      cmd_param :
+        dash      : ''
+        delim     : ':='
+    - name  : use_points
+      desc  : use sensor_msgs::PointCloud2 or not
+      label : use_points
+      kind  : checkbox
+      v     : True
+      cmd_param :
+        dash      : ''
+        delim     : ':='
+    - name  : use_wayarea
+      desc  : use vector_map wayarea or not
+      label : use_wayarea
+      kind  : checkbox
+      v     : True
+      cmd_param :
+        dash      : ''
+        delim     : ':='
+    - name  : objects_input
+      desc  : autoware_msgs::DetectedObjectArray
+      label : objects_input
+      kind  : topic
+      topic_type : autoware_msgs/DetectedObjectArray
+      v     : /prediction/motion_predictor/objects
+      cmd_param :
+        dash      : ''
+        delim     : ':='
+    - name  : points_input
+      desc  : sensor_msgs::PointCloud2
+      label : points_input
+      kind  : topic
+      topic_type : sensor_msgs/PointCloud2
+      v     : /points_no_ground
+      cmd_param :
+        dash      : ''
+        delim     : ':='
+    - name    : lidar_frame
+      desc    : lidar frame
+      label   : lidar_frame
+      kind    : str
+      v       : /velodyne
+      cmd_param :
+        dash  : ''
+        delim : ':='
+    - name    : map_frame
+      desc    : map frame
+      label   : map_frame
+      kind    : str
+      v       : /map
+      cmd_param :
+        dash  : ''
+        delim : ':='
+    - name  : grid_min_value
+      desc  : minimum value for costmap
+      label : grid_min_value
+      min     : 0.00
+      max     : 10.0
+      v       : 0.0
+      cmd_param :
+        dash      : ''
+        delim     : ':='
+    - name  : grid_max_value
+      desc  : maximum value for costmap
+      label : grid_max_value
+      min     : 1.0
+      max     : 255.0
+      v       : 1.0
+      cmd_param :
+        dash      : ''
+        delim     : ':='
+    - name  : grid_resolution
+      desc  : grid resolution for costmap
+      label : grid_resolution
+      min     : 0.0
+      max     : 10.0
+      v       : 0.2
+      cmd_param :
+        dash      : ''
+        delim     : ':='
+    - name  : grid_length_x
+      desc  : grid lengh for x coordinate
+      label : grid_length_x
+      min     : 0.0
+      max     : 100.0
+      v       : 50.0
+      cmd_param :
+        dash      : ''
+        delim     : ':='
+    - name  : grid_length_y
+      desc  : grid lengh for y coordinate
+      label : grid_length_y
+      min     : 0.0
+      max     : 100.0
+      v       : 30.0
+      cmd_param :
+        dash      : ''
+        delim     : ':='
+    - name  : grid_position_x
+      desc  : grid position for x coordinate
+      label : grid_position_x
+      min     : 0.0
+      max     : 100.0
+      v       : 20.0
+      cmd_param :
+        dash      : ''
+        delim     : ':='
+    - name  : grid_position_y
+      desc  : grid position for y coordinate
+      label : grid_position_y
+      min     : 0.0
+      max     : 100.0
+      v       : 0.0
+      cmd_param :
+        dash      : ''
+        delim     : ':='
+    - name  : maximum_lidar_height_thres
+      desc  : Maximum z for lidar points
+      label : maximum_lidar_height_thres
+      min     : 0.0
+      max     : 10.0
+      v       : 0.3
+      cmd_param :
+        dash      : ''
+        delim     : ':='
+    - name  : minimum_lidar_height_thres
+      desc  : Minimum z for lidar points
+      label : minimum_lidar_height_thres
+      min     : -10.0
+      max     : 2.0
+      v       : -2.2
+      cmd_param :
+        dash      : ''
+        delim     : ':='
+    - name  : expand_polygon_size
+      desc  : Expand oberct's costmap polygon
+      label : expand_polygon_size
+      min     : 0.0
+      max     : 10.0
+      v       : 1.0
+      cmd_param :
+        dash      : ''
+        delim     : ':='
+    - name  : size_of_expansion_kernel
+      desc  : Size of expansion window(kernel)
+      label : size_of_expansion_kernel(odd number)
+      min     : 0
+      max     : 30
+      v       : 9
+      cmd_param :
+        dash      : ''
+        delim     : ':='
   - name  : lidar_cnn_baidu_params
     vars  :
     - name      : points_src

From 8b5add66f839416dec3f491139bae1d6a556351c Mon Sep 17 00:00:00 2001
From: Yukihiro SAITO <yukky.saito@gmail.com>
Date: Tue, 12 Mar 2019 04:16:01 +0900
Subject: [PATCH 09/23] add gitignore for gazebo model dir

---
 .../worlds/gazebo_world_description/models/.gitignore           | 2 ++
 1 file changed, 2 insertions(+)
 create mode 100644 ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/.gitignore

diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/.gitignore b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/.gitignore
new file mode 100644
index 00000000000..c96a04f008e
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/.gitignore
@@ -0,0 +1,2 @@
+*
+!.gitignore
\ No newline at end of file

From e5ec9fffd5fa7341185120c6363850dc97bb5e95 Mon Sep 17 00:00:00 2001
From: Yukihiro SAITO <yukky.saito@gmail.com>
Date: Tue, 12 Mar 2019 06:11:50 +0900
Subject: [PATCH 10/23] enable writable_source in travis

---
 .travis.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.travis.yml b/.travis.yml
index 2c55680c191..511d75217e9 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -7,6 +7,7 @@ cache:
 env:
   global:
     - CCACHE_DIR=$HOME/.ccache
+    - WRITABLE_SOURCE=true
   matrix:
     - ROS_DISTRO="kinetic" _GUARD_INTERVAL=10 CATKIN_PARALLEL_JOBS='-p2' ROS_PARALLEL_JOBS='-j2' NOT_TEST_BUILD='true' NOT_TEST_INSTALL='true'
     - ROS_DISTRO="melodic" _GUARD_INTERVAL=10 CATKIN_PARALLEL_JOBS='-p2' ROS_PARALLEL_JOBS='-j2' NOT_TEST_BUILD='true' NOT_TEST_INSTALL='true'

From cb019a2e38c7d7c2fac85f32714dee9d3020d35a Mon Sep 17 00:00:00 2001
From: Yukihiro SAITO <yukky.saito@gmail.com>
Date: Tue, 12 Mar 2019 06:35:13 +0900
Subject: [PATCH 11/23] enable writable source in travis

---
 .travis.yml | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 511d75217e9..214b8843750 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -7,10 +7,9 @@ cache:
 env:
   global:
     - CCACHE_DIR=$HOME/.ccache
-    - WRITABLE_SOURCE=true
   matrix:
-    - ROS_DISTRO="kinetic" _GUARD_INTERVAL=10 CATKIN_PARALLEL_JOBS='-p2' ROS_PARALLEL_JOBS='-j2' NOT_TEST_BUILD='true' NOT_TEST_INSTALL='true'
-    - ROS_DISTRO="melodic" _GUARD_INTERVAL=10 CATKIN_PARALLEL_JOBS='-p2' ROS_PARALLEL_JOBS='-j2' NOT_TEST_BUILD='true' NOT_TEST_INSTALL='true'
+    - ROS_DISTRO="kinetic" _GUARD_INTERVAL=10 CATKIN_PARALLEL_JOBS='-p2' ROS_PARALLEL_JOBS='-j2' NOT_TEST_BUILD='true' NOT_TEST_INSTALL='true' WRITABLE_SOURCE='true'
+    - ROS_DISTRO="melodic" _GUARD_INTERVAL=10 CATKIN_PARALLEL_JOBS='-p2' ROS_PARALLEL_JOBS='-j2' NOT_TEST_BUILD='true' NOT_TEST_INSTALL='true' WRITABLE_SOURCE='true'
 matrix:
   allow_failures:
     - env: ROS_DISTRO="melodic" _GUARD_INTERVAL=10 CATKIN_PARALLEL_JOBS='-p2' ROS_PARALLEL_JOBS='-j2' NOT_TEST_BUILD='true' NOT_TEST_INSTALL='true'

From 9f027ddc2b61ca160e345f7a2c46efba18386d76 Mon Sep 17 00:00:00 2001
From: Yukihiro SAITO <yukky.saito@gmail.com>
Date: Tue, 12 Mar 2019 21:37:39 +0900
Subject: [PATCH 12/23] remove gitignore

---
 .../worlds/gazebo_world_description/models/.gitignore           | 2 --
 .../worlds/gazebo_world_description/worlds/.gitignore           | 1 -
 2 files changed, 3 deletions(-)
 delete mode 100644 ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/.gitignore
 delete mode 100644 ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/.gitignore

diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/.gitignore b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/.gitignore
deleted file mode 100644
index c96a04f008e..00000000000
--- a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-*
-!.gitignore
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/.gitignore b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/.gitignore
deleted file mode 100644
index 3d919bfc9ff..00000000000
--- a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-*.world
\ No newline at end of file

From fdf9888014bebffad8f2f27fcd3b8e7b52cf44b6 Mon Sep 17 00:00:00 2001
From: Yukihiro SAITO <yukky.saito@gmail.com>
Date: Tue, 12 Mar 2019 21:38:51 +0900
Subject: [PATCH 13/23] remove copy script and use symlink

---
 .../gazebo_world_description/CMakeLists.txt      | 16 ++++++++++------
 .../models/construction_cone                     |  1 +
 .../gazebo_world_description/models/dumpster     |  1 +
 .../gazebo_world_description/models/gas_station  |  1 +
 .../gazebo_world_description/models/grey_wall    |  1 +
 .../gazebo_world_description/models/house_1      |  1 +
 .../gazebo_world_description/models/house_2      |  1 +
 .../gazebo_world_description/models/house_3      |  1 +
 .../models/jersey_barrier                        |  1 +
 .../worlds/gazebo_world_description/models/mcity |  1 +
 .../worlds/gazebo_world_description/models/ocean |  1 +
 .../gazebo_world_description/models/powerplant   |  1 +
 .../models/speed_limit_sign                      |  1 +
 .../scripts/integrate_model_files.sh             |  8 --------
 .../scripts/integrate_world_files.sh             |  8 --------
 .../worlds/citysim_gazebo7.world                 |  1 +
 .../worlds/citysim_gazebo9.world                 |  1 +
 .../gazebo_world_description/worlds/mcity.world  |  1 +
 .../worlds/mcity_r1.world                        |  1 +
 19 files changed, 26 insertions(+), 22 deletions(-)
 create mode 120000 ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/construction_cone
 create mode 120000 ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/dumpster
 create mode 120000 ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/gas_station
 create mode 120000 ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/grey_wall
 create mode 120000 ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/house_1
 create mode 120000 ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/house_2
 create mode 120000 ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/house_3
 create mode 120000 ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/jersey_barrier
 create mode 120000 ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/mcity
 create mode 120000 ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/ocean
 create mode 120000 ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/powerplant
 create mode 120000 ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/speed_limit_sign
 delete mode 100755 ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/scripts/integrate_model_files.sh
 delete mode 100755 ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/scripts/integrate_world_files.sh
 create mode 120000 ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/citysim_gazebo7.world
 create mode 120000 ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/citysim_gazebo9.world
 create mode 120000 ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/mcity.world
 create mode 120000 ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/mcity_r1.world

diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/CMakeLists.txt b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/CMakeLists.txt
index 18e4f0b829b..6c200d435bb 100644
--- a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/CMakeLists.txt
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/CMakeLists.txt
@@ -4,11 +4,15 @@ project(gazebo_world_description)
 find_package(catkin REQUIRED)
 
 catkin_package()
-add_custom_target(integrate_model ALL /bin/bash ${CMAKE_CURRENT_SOURCE_DIR}/scripts/integrate_model_files.sh)
-add_custom_target(integrate_world ALL /bin/bash ${CMAKE_CURRENT_SOURCE_DIR}/scripts/integrate_world_files.sh)
 
-install(DIRECTORY worlds
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(CODE "execute_process( \
+  COMMAND  cp -rL \
+  ${CMAKE_CURRENT_SOURCE_DIR}/worlds/ \
+  ${CMAKE_INSTALL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/)"
+)
 
-install(DIRECTORY models
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(CODE "execute_process( \
+  COMMAND  cp -rL \
+  ${CMAKE_CURRENT_SOURCE_DIR}/models/ \
+  ${CMAKE_INSTALL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/)"
+)
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/construction_cone b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/construction_cone
new file mode 120000
index 00000000000..17345d2b453
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/construction_cone
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/models/construction_cone
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/dumpster b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/dumpster
new file mode 120000
index 00000000000..5db4eb6439e
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/dumpster
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/models/dumpster
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/gas_station b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/gas_station
new file mode 120000
index 00000000000..79bcebaf934
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/gas_station
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/models/gas_station
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/grey_wall b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/grey_wall
new file mode 120000
index 00000000000..d29a5852162
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/grey_wall
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/models/grey_wall
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/house_1 b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/house_1
new file mode 120000
index 00000000000..feb410627c1
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/house_1
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/models/house_1
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/house_2 b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/house_2
new file mode 120000
index 00000000000..e08dddc86ed
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/house_2
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/models/house_2
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/house_3 b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/house_3
new file mode 120000
index 00000000000..4979c1d577b
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/house_3
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/models/house_3
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/jersey_barrier b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/jersey_barrier
new file mode 120000
index 00000000000..feb9771e41a
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/jersey_barrier
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/models/jersey_barrier
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/mcity b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/mcity
new file mode 120000
index 00000000000..7075b969f7a
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/mcity
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/models/mcity
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/ocean b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/ocean
new file mode 120000
index 00000000000..d57f0a78ee8
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/ocean
@@ -0,0 +1 @@
+../../external/osrf_citysim/models/ocean
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/powerplant b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/powerplant
new file mode 120000
index 00000000000..15a8dfb37b1
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/powerplant
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/models/powerplant
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/speed_limit_sign b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/speed_limit_sign
new file mode 120000
index 00000000000..cc8966a771d
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/speed_limit_sign
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/models/speed_limit_sign
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/scripts/integrate_model_files.sh b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/scripts/integrate_model_files.sh
deleted file mode 100755
index bd64050ee36..00000000000
--- a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/scripts/integrate_model_files.sh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/bin/sh
-
-SCRIPT_DIR=$(cd $(dirname $0); pwd)
-echo "Copy world file to gazebo_world_description"
-cp -rn $SCRIPT_DIR/../../external/osrf_citysim/models/actor $SCRIPT_DIR/../models/
-cp -rn $SCRIPT_DIR/../../external/osrf_citysim/models/city_terrain $SCRIPT_DIR/../models/
-cp -rn $SCRIPT_DIR/../../external/osrf_citysim/models/ocean $SCRIPT_DIR/../models/
-cp -rn $SCRIPT_DIR/../../external/car_demo/car_demo/models/* $SCRIPT_DIR/../models/
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/scripts/integrate_world_files.sh b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/scripts/integrate_world_files.sh
deleted file mode 100755
index c925f471bd2..00000000000
--- a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/scripts/integrate_world_files.sh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/bin/sh
-
-SCRIPT_DIR=$(cd $(dirname $0); pwd)
-echo "Copy world file to gazebo_world_description"
-cp -n $SCRIPT_DIR/../../external/osrf_citysim/worlds/citysim_gazebo7.world $SCRIPT_DIR/../worlds/
-cp -n $SCRIPT_DIR/../../external/osrf_citysim/worlds/citysim_gazebo9.world $SCRIPT_DIR/../worlds/
-cp -n $SCRIPT_DIR/../../external/car_demo/car_demo/worlds/mcity.world $SCRIPT_DIR/../worlds/
-cp -n $SCRIPT_DIR/../../external/car_demo/car_demo/worlds/mcity_r1.world $SCRIPT_DIR/../worlds/
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/citysim_gazebo7.world b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/citysim_gazebo7.world
new file mode 120000
index 00000000000..3ca1bf46136
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/citysim_gazebo7.world
@@ -0,0 +1 @@
+../../external/osrf_citysim/worlds/citysim_gazebo7.world
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/citysim_gazebo9.world b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/citysim_gazebo9.world
new file mode 120000
index 00000000000..35aff52f5ff
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/citysim_gazebo9.world
@@ -0,0 +1 @@
+../../external/osrf_citysim/worlds/citysim_gazebo9.world
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/mcity.world b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/mcity.world
new file mode 120000
index 00000000000..f03ad40914f
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/mcity.world
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/worlds/mcity.world
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/mcity_r1.world b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/mcity_r1.world
new file mode 120000
index 00000000000..dc5354efb6e
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/mcity_r1.world
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/worlds/mcity_r1.world
\ No newline at end of file

From d2a2e6837bf4a9624430504b3fbb6d1ba95cbc7a Mon Sep 17 00:00:00 2001
From: Yukihiro SAITO <yukky.saito@gmail.com>
Date: Tue, 12 Mar 2019 21:40:03 +0900
Subject: [PATCH 14/23] remove writable source

---
 .travis.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 214b8843750..2c55680c191 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -8,8 +8,8 @@ env:
   global:
     - CCACHE_DIR=$HOME/.ccache
   matrix:
-    - ROS_DISTRO="kinetic" _GUARD_INTERVAL=10 CATKIN_PARALLEL_JOBS='-p2' ROS_PARALLEL_JOBS='-j2' NOT_TEST_BUILD='true' NOT_TEST_INSTALL='true' WRITABLE_SOURCE='true'
-    - ROS_DISTRO="melodic" _GUARD_INTERVAL=10 CATKIN_PARALLEL_JOBS='-p2' ROS_PARALLEL_JOBS='-j2' NOT_TEST_BUILD='true' NOT_TEST_INSTALL='true' WRITABLE_SOURCE='true'
+    - ROS_DISTRO="kinetic" _GUARD_INTERVAL=10 CATKIN_PARALLEL_JOBS='-p2' ROS_PARALLEL_JOBS='-j2' NOT_TEST_BUILD='true' NOT_TEST_INSTALL='true'
+    - ROS_DISTRO="melodic" _GUARD_INTERVAL=10 CATKIN_PARALLEL_JOBS='-p2' ROS_PARALLEL_JOBS='-j2' NOT_TEST_BUILD='true' NOT_TEST_INSTALL='true'
 matrix:
   allow_failures:
     - env: ROS_DISTRO="melodic" _GUARD_INTERVAL=10 CATKIN_PARALLEL_JOBS='-p2' ROS_PARALLEL_JOBS='-j2' NOT_TEST_BUILD='true' NOT_TEST_INSTALL='true'

From 791677a5e99b47184d855cdbd2ca0b54bb668fc0 Mon Sep 17 00:00:00 2001
From: Yukihiro Saito <yukky.saito@gmail.com>
Date: Wed, 13 Mar 2019 00:55:48 +0900
Subject: [PATCH 15/23] remove controller manager in CMakeLists.txt

---
 .../launcher/vehicle_gazebo_simulation_launcher/CMakeLists.txt   | 1 -
 1 file changed, 1 deletion(-)

diff --git a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/CMakeLists.txt b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/CMakeLists.txt
index 63782e4a341..55c628d0caf 100644
--- a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/CMakeLists.txt
+++ b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/CMakeLists.txt
@@ -2,7 +2,6 @@ cmake_minimum_required(VERSION 2.8.3)
 project(vehicle_gazebo_simulation_launcher)
 
 find_package(catkin REQUIRED
-  controller_manager
   controller_manager
   robot_state_publisher
   joint_state_controller

From 71c3f64677d3337eae45ea72841b2be79f890356 Mon Sep 17 00:00:00 2001
From: Yukihiro SAITO <yukky.saito@gmail.com>
Date: Wed, 13 Mar 2019 10:55:38 +0900
Subject: [PATCH 16/23] Add exec permission to shell scripts in runtime manager

---
 ros/src/util/packages/runtime_manager/CMakeLists.txt | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/ros/src/util/packages/runtime_manager/CMakeLists.txt b/ros/src/util/packages/runtime_manager/CMakeLists.txt
index 9b1cf8e3e15..33d479a86ef 100644
--- a/ros/src/util/packages/runtime_manager/CMakeLists.txt
+++ b/ros/src/util/packages/runtime_manager/CMakeLists.txt
@@ -18,7 +18,7 @@ catkin_install_python(PROGRAMS
         scripts/test_srv.py
         DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
-install(FILES
+install(PROGRAMS
         scripts/3dm_gx5_15.sh
         scripts/add_perm.sh
         scripts/adis16470.sh
@@ -26,7 +26,9 @@ install(FILES
         scripts/gazebo.sh
         scripts/mti300.sh
         scripts/vg440.sh
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts)
 
+install(FILES
         scripts/computing.yaml
         scripts/data.yaml
         scripts/empty.yaml

From b1a9c0b3e35ebe3626b111f8c610c5adc41cf536 Mon Sep 17 00:00:00 2001
From: Filipe Rinaldi <filiperinaldi@gmail.com>
Date: Wed, 13 Mar 2019 09:33:28 +0000
Subject: [PATCH 17/23] Docker cleanup (#1946)

* Docker: Add truly generic docker support

Unify docker support with a new (and more generic) set of docker files.

Two main images are created:
- Base image containing an Ubuntu installation with all dependencies
- Build image containing a pre-built Autoware

When Cuda support is enabled, there is a further Base+Cuda support image.
These Dockerfiles can be used for both AArch64 and x86_64 images.

Co-authored-by: Filipe Rinaldi <filipe.rinaldi@arm.com>

* ros/.gitignore: Ignore log and coverage folders

* Autoware built using colcon instead of catkin

* Install ROS dependencies via file

* Docker: Recommend NVIDIA Docker version 2

Make it explicit in the documentation that we recommend NVIDIA Docker
v2.
---
 .dockerignore                      |   6 ++
 docker/96boards/Dockerfile.kinetic |  87 ----------------
 docker/96boards/README.md          |  22 ----
 docker/96boards/build.sh           |  10 --
 docker/96boards/run.sh             |  35 -------
 docker/generic/Dockerfile          |  16 +++
 docker/generic/Dockerfile.base     |  95 +++++++++++++++++
 docker/generic/Dockerfile.cuda     |  88 ++++++++++++++++
 docker/generic/Dockerfile.kinetic  |  81 ---------------
 docker/generic/README.md           |  92 ++++++++++++++---
 docker/generic/build.sh            | 112 ++++++++++++++++++--
 docker/generic/dependencies        |  31 ++++++
 docker/generic/entrypoint.sh       |  22 ++++
 docker/generic/hooks/build         |  27 +++++
 docker/generic/hooks/env           |  15 +++
 docker/generic/hooks/post_push     |  17 +++
 docker/generic/run.sh              | 159 +++++++++++++++++++++++------
 ros/.gitignore                     |   2 +
 18 files changed, 624 insertions(+), 293 deletions(-)
 create mode 100644 .dockerignore
 delete mode 100644 docker/96boards/Dockerfile.kinetic
 delete mode 100644 docker/96boards/README.md
 delete mode 100755 docker/96boards/build.sh
 delete mode 100755 docker/96boards/run.sh
 create mode 100644 docker/generic/Dockerfile
 create mode 100644 docker/generic/Dockerfile.base
 create mode 100644 docker/generic/Dockerfile.cuda
 delete mode 100644 docker/generic/Dockerfile.kinetic
 create mode 100644 docker/generic/dependencies
 create mode 100755 docker/generic/entrypoint.sh
 create mode 100644 docker/generic/hooks/build
 create mode 100644 docker/generic/hooks/env
 create mode 100755 docker/generic/hooks/post_push

diff --git a/.dockerignore b/.dockerignore
new file mode 100644
index 00000000000..1dbd884144b
--- /dev/null
+++ b/.dockerignore
@@ -0,0 +1,6 @@
+.git*
+ros/build*
+ros/devel*
+ros/install*
+ros/log*
+ros/coverage_*
diff --git a/docker/96boards/Dockerfile.kinetic b/docker/96boards/Dockerfile.kinetic
deleted file mode 100644
index d73305ad2c7..00000000000
--- a/docker/96boards/Dockerfile.kinetic
+++ /dev/null
@@ -1,87 +0,0 @@
-FROM ubuntu:16.04
-MAINTAINER Kenji Funaoka <kenji.funaoka@tier4.jp>
-
-# Develop
-RUN apt-get update && apt-get install -y \
-        software-properties-common \
-        wget curl git cmake cmake-curses-gui \
-        libboost-all-dev \
-        libflann-dev \
-        libgsl0-dev \
-        libgoogle-perftools-dev \
-        libeigen3-dev
-
-# Intall some basic GUI and sound libs
-RUN apt-get update && apt-get install -y \
-        xz-utils file locales dbus-x11 pulseaudio dmz-cursor-theme \
-        fonts-dejavu fonts-liberation hicolor-icon-theme \
-        libcanberra-gtk3-0 libcanberra-gtk-module libcanberra-gtk3-module \
-        libasound2 libgtk2.0-0 libdbus-glib-1-2 libxt6 libexif12 \
-        libgl1-mesa-glx libgl1-mesa-dri language-pack-en \
-        && update-locale LANG=en_US.UTF-8 LC_MESSAGES=POSIX
-
-# Intall some basic GUI tools
-RUN apt-get update && apt-get install -y \
-        cmake-qt-gui \
-        gnome-terminal
-
-# Intall ROS
-RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
-RUN apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
-RUN apt-get update && apt-get install -y ros-kinetic-desktop-full ros-kinetic-nmea-msgs ros-kinetic-nmea-navsat-driver ros-kinetic-sound-play ros-kinetic-jsk-visualization ros-kinetic-grid-map ros-kinetic-gps-common
-RUN apt-get update && apt-get install -y ros-kinetic-controller-manager ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-gazebo-ros-control ros-kinetic-joystick-drivers
-RUN apt-get update && apt-get install -y libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev libgl1-mesa-dev libglew-dev python-wxgtk3.0 software-properties-common libmosquitto-dev libyaml-cpp-dev python-flask python-requests
-
-# Add basic user
-ENV USERNAME autoware
-ENV PULSE_SERVER /run/pulse/native
-RUN useradd -m $USERNAME && \
-        echo "$USERNAME:$USERNAME" | chpasswd && \
-        usermod --shell /bin/bash $USERNAME && \
-        usermod -aG sudo $USERNAME && \
-        echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME && \
-        chmod 0440 /etc/sudoers.d/$USERNAME && \
-        # Replace 1000 with your user/group id
-        usermod  --uid 1000 $USERNAME && \
-        groupmod --gid 1000 $USERNAME
-
-# Setup .bashrc for ROS
-RUN echo "source /opt/ros/kinetic/setup.bash" >> /home/$USERNAME/.bashrc && \
-        #Fix for qt and X server errors
-        echo "export QT_X11_NO_MITSHM=1" >> /home/$USERNAME/.bashrc && \
-        # cd to home on login
-        echo "cd" >> /home/$USERNAME/.bashrc
-
-# Install colcon
-RUN apt-get install -y python3-pip python3-setuptools
-RUN pip3 install -U setuptools
-RUN apt-get install -y python3-colcon-common-extensions
-
-# Change user
-USER autoware
-
-RUN sudo rosdep init \
-        && rosdep update \
-        && echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
-
-# YOLO_V2 -> Unable to install because CMakeLists.txt in vision_yolo2_detect depends on CUDA
-
-# Install Autoware
-RUN cd && git clone https://github.com/CPFL/Autoware.git /home/$USERNAME/Autoware
-RUN /bin/bash -c 'source /opt/ros/kinetic/setup.bash; cd /home/$USERNAME/Autoware/ros/src; git submodule update --init --recursive; cd ../; ./colcon_release -j2'
-RUN echo "source /home/$USERNAME/Autoware/ros/devel/setup.bash" >> /home/$USERNAME/.bashrc
-
-# Setting
-ENV LANG="en_US.UTF-8"
-RUN echo "export LANG=\"en_US.UTF-8\"" >> /home/$USERNAME/.bashrc
-
-# Install dev tools
-RUN sudo apt-get -y install vim tmux
-
-# Change Terminal Color
-RUN gconftool-2 --set "/apps/gnome-terminal/profiles/Default/use_theme_background" --type bool false
-RUN gconftool-2 --set "/apps/gnome-terminal/profiles/Default/use_theme_colors" --type bool false
-RUN gconftool-2 --set "/apps/gnome-terminal/profiles/Default/background_color" --type string "#000000"
-
-# Default CMD
-CMD ["/bin/bash"]
diff --git a/docker/96boards/README.md b/docker/96boards/README.md
deleted file mode 100644
index 3f0285b03f2..00000000000
--- a/docker/96boards/README.md
+++ /dev/null
@@ -1,22 +0,0 @@
-# Autoware Docker on 96boards
-
-See [Wiki](https://github.com/CPFL/Autoware/wiki/Docker) for more information.
-
-## How to Build
-```
-$ cd Autoware/docker/96boards/
-
-# Ubuntu 16.04 (Kinetic)
-$ sh build.sh kinetic
-```
-
-## How to Run
-```
-# Default shared directory path is /home/$USER/shared_dir
-
-# Ubuntu 16.04 (Kinetic)
-$ sh run.sh kinetic
-
-# If you select your shared directory path
-$ sh run.sh kinetic {SHARED_DIR_PATH}
-```
diff --git a/docker/96boards/build.sh b/docker/96boards/build.sh
deleted file mode 100755
index 946c1872c0b..00000000000
--- a/docker/96boards/build.sh
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/bin/sh
-
-# Build Docker Image
-if [ "$1" = "kinetic" ]
-then
-    echo "Use $1"
-    docker build -t autoware-$1 -f Dockerfile.$1 . --no-cache
-else
-    echo "Set distribution, kinetic"
-fi
diff --git a/docker/96boards/run.sh b/docker/96boards/run.sh
deleted file mode 100755
index dbb0fa7fcc7..00000000000
--- a/docker/96boards/run.sh
+++ /dev/null
@@ -1,35 +0,0 @@
-#!/bin/sh
-
-XSOCK=/tmp/.X11-unix
-XAUTH=/home/$USER/.Xauthority
-SHARED_DIR=/home/autoware/shared_dir
-HOST_DIR=/home/$USER/shared_dir
-
-if [ "$1" = "kinetic" ]
-then
-    echo "Use $1"
-else
-    echo "Set distribution, kinetic"
-    exit
-fi
-
-if [ "$2" = "" ]
-then
-    # Create Shared Folder
-    mkdir -p $HOST_DIR
-else
-    HOST_DIR=$2
-fi
-echo "Shared directory: ${HOST_DIR}"
-
-docker run \
-    -it --rm \
-    --volume=$XSOCK:$XSOCK:rw \
-    --volume=$XAUTH:$XAUTH:rw \
-    --volume=$HOST_DIR:$SHARED_DIR:rw \
-    --env="XAUTHORITY=${XAUTH}" \
-    --env="DISPLAY=${DISPLAY}" \
-    -u autoware \
-    --privileged -v /dev/bus/usb:/dev/bus/usb \
-    --net=host \
-    autoware-$1
diff --git a/docker/generic/Dockerfile b/docker/generic/Dockerfile
new file mode 100644
index 00000000000..8f6632e38d4
--- /dev/null
+++ b/docker/generic/Dockerfile
@@ -0,0 +1,16 @@
+ARG FROM_ARG
+ARG ROS_DISTRO
+FROM ${FROM_ARG}
+
+ENV USERNAME autoware
+
+# Build Autoware
+COPY --chown=autoware ./ /home/$USERNAME/Autoware
+RUN su -c "bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
+                  cd /home/$USERNAME/Autoware/ros; \
+                  ./colcon_release'" $USERNAME
+RUN echo "source /home/$USERNAME/Autoware/ros/install/local_setup.bash" >> \
+    /home/$USERNAME/.bashrc
+
+COPY ./docker/generic/entrypoint.sh /tmp
+ENTRYPOINT ["/tmp/entrypoint.sh"]
diff --git a/docker/generic/Dockerfile.base b/docker/generic/Dockerfile.base
new file mode 100644
index 00000000000..b1a76d655f4
--- /dev/null
+++ b/docker/generic/Dockerfile.base
@@ -0,0 +1,95 @@
+#
+# Install ROS packages used by Autoware.
+#
+ARG ROS_DISTRO
+FROM ros:$ROS_DISTRO
+
+#
+# Install tools and libraries required by Autoware
+#
+RUN apt-get update && apt-get install -y \
+        cmake-curses-gui \
+        cmake-qt-gui \
+        dbus-x11 \
+        dmz-cursor-theme \
+        fonts-dejavu \
+        gconf2 \
+        gnome-terminal \
+        gstreamer0.10-plugins-good \
+        language-pack-en \
+        libarmadillo-dev \
+        libcanberra-gtk-module \
+        libcanberra-gtk3-0 \
+        libcanberra-gtk3-module \
+        libdbus-glib-1-2 \
+        libgflags-dev \
+        libglew-dev \
+        libgoogle-glog-dev \
+        libgoogle-perftools-dev \
+        libgsl0-dev \
+        libmosquitto-dev \
+        libopencv-dev \
+        libopenni2-dev \
+        libpcap-dev \
+        libssh2-1-dev \
+        locales \
+        pulseaudio \
+        python-flask \
+        python-requests \
+        python3-colcon-common-extensions \
+        python3-pip \
+        python3-setuptools \
+        sudo \
+        tmux \
+        v4l-utils \
+        vim \
+        wget && \
+        pip3 install -U setuptools && \
+        rm -rf /var/lib/apt/lists/*
+
+#
+# Configure environmet
+#
+
+RUN update-locale LANG=en_US.UTF-8 LC_MESSAGES=POSIX
+
+# Add user
+ENV USERNAME autoware
+ARG USER_ID=1000
+ARG GROUP_ID=15214
+ENV PULSE_SERVER /run/pulse/native
+
+RUN groupadd --gid $GROUP_ID $USERNAME && \
+        useradd --gid $GROUP_ID -m $USERNAME && \
+        echo "$USERNAME:$USERNAME" | chpasswd && \
+        usermod --shell /bin/bash $USERNAME && \
+        usermod -aG sudo $USERNAME && \
+        usermod  --uid $USER_ID $USERNAME && \
+        echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME && \
+        chmod 0440 /etc/sudoers.d/$USERNAME
+
+# Startup scripts
+ENV LANG="en_US.UTF-8"
+RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /etc/profile.d/ros.sh && \
+        # Fix for QT and X server errors
+        echo "export QT_X11_NO_MITSHM=1" >> /etc/profile.d/autoware.sh && \
+        # Set defaut language
+        echo "export LANG=\"en_US.UTF-8\"" >> /etc/profile.d/autoware.sh
+
+#
+# Install ROS packages used by Autoware
+#
+COPY ./docker/generic/dependencies /tmp/dependencies
+RUN apt-get update && \
+    sed "s/\$ROS_DISTRO/$ROS_DISTRO/g" "/tmp/dependencies" | xargs apt-get install -y && \
+    rm -rf /var/lib/apt/lists/* 
+
+RUN su -c "rosdep update" autoware
+
+# Configure terminal colors
+RUN su -c "gconftool-2 --set \"/apps/gnome-terminal/profiles/Default/use_theme_background\" --type bool false" autoware && \
+    su -c "gconftool-2 --set \"/apps/gnome-terminal/profiles/Default/use_theme_colors\" --type bool false" autoware && \
+    su -c "gconftool-2 --set \"/apps/gnome-terminal/profiles/Default/background_color\" --type string \"#000000\"" autoware
+
+COPY ./docker/generic/entrypoint.sh /tmp
+ENTRYPOINT ["/tmp/entrypoint.sh"]
diff --git a/docker/generic/Dockerfile.cuda b/docker/generic/Dockerfile.cuda
new file mode 100644
index 00000000000..b063acc9358
--- /dev/null
+++ b/docker/generic/Dockerfile.cuda
@@ -0,0 +1,88 @@
+ARG FROM_ARG
+FROM ${FROM_ARG}
+USER root
+
+
+# From nvidia cuda 9.0 base: https://gitlab.com/nvidia/cuda/tree/ubuntu16.04/9.0/base/Dockerfile
+
+RUN apt-get update && apt-get install -y --no-install-recommends ca-certificates apt-transport-https gnupg-curl && \
+    rm -rf /var/lib/apt/lists/* && \
+    NVIDIA_GPGKEY_SUM=d1be581509378368edeec8c1eb2958702feedf3bc3d17011adbf24efacce4ab5 && \
+    NVIDIA_GPGKEY_FPR=ae09fe4bbd223a84b2ccfce3f60f4b3d7fa2af80 && \
+    apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1604/x86_64/7fa2af80.pub && \
+    apt-key adv --export --no-emit-version -a $NVIDIA_GPGKEY_FPR | tail -n +5 > cudasign.pub && \
+    echo "$NVIDIA_GPGKEY_SUM  cudasign.pub" | sha256sum -c --strict - && rm cudasign.pub && \
+    echo "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1604/x86_64 /" > /etc/apt/sources.list.d/cuda.list && \
+    echo "deb https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1604/x86_64 /" > /etc/apt/sources.list.d/nvidia-ml.list
+
+ENV CUDA_VERSION 9.0.176
+
+ENV CUDA_PKG_VERSION 9-0=$CUDA_VERSION-1
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        cuda-cudart-$CUDA_PKG_VERSION && \
+    ln -s cuda-9.0 /usr/local/cuda && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN echo "/usr/local/nvidia/lib" >> /etc/ld.so.conf.d/nvidia.conf && \
+    echo "/usr/local/nvidia/lib64" >> /etc/ld.so.conf.d/nvidia.conf
+
+ENV PATH /usr/local/nvidia/bin:/usr/local/cuda/bin:${PATH}
+ENV LD_LIBRARY_PATH /usr/local/nvidia/lib:/usr/local/nvidia/lib64
+
+# nvidia-container-runtime
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES compute,utility
+ENV NVIDIA_REQUIRE_CUDA "cuda>=9.0"
+
+
+# From nvidia cuda 9.0 runtime: https://gitlab.com/nvidia/cuda/blob/ubuntu16.04/9.0/runtime/Dockerfile
+
+ENV NCCL_VERSION 2.3.7
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        cuda-libraries-$CUDA_PKG_VERSION \
+        cuda-cublas-9-0=9.0.176.4-1 \
+        libnccl2=$NCCL_VERSION-1+cuda9.0 && \
+        apt-mark hold libnccl2 && \
+        rm -rf /var/lib/apt/lists/*
+
+# From nvidia cuda 9.0 devel: https://gitlab.com/nvidia/cuda/blob/ubuntu16.04/9.0/devel/Dockerfile
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        cuda-libraries-dev-$CUDA_PKG_VERSION \
+        cuda-nvml-dev-$CUDA_PKG_VERSION \
+        cuda-minimal-build-$CUDA_PKG_VERSION \
+        cuda-command-line-tools-$CUDA_PKG_VERSION \
+        cuda-core-9-0=9.0.176.3-1 \
+        cuda-cublas-dev-9-0=9.0.176.4-1 \
+        libnccl-dev=$NCCL_VERSION-1+cuda9.0 && \
+    rm -rf /var/lib/apt/lists/*
+
+ENV LIBRARY_PATH /usr/local/cuda/lib64/stubs
+
+# Support for Nvidia docker v2
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        pkg-config \
+        libxau-dev \
+        libxdmcp-dev \
+        libxcb1-dev \
+        libxext-dev \
+        libx11-dev && \
+    rm -rf /var/lib/apt/lists/*
+COPY --from=nvidia/opengl:1.0-glvnd-runtime-ubuntu16.04 \
+  /usr/local/lib/x86_64-linux-gnu \
+  /usr/lib/x86_64-linux-gnu
+COPY --from=nvidia/opengl:1.0-glvnd-runtime-ubuntu16.04 \
+  /usr/local/share/glvnd/egl_vendor.d/10_nvidia.json \
+  /usr/local/share/glvnd/egl_vendor.d/10_nvidia.json
+RUN echo '/usr/local/lib/x86_64-linux-gnu' >> /etc/ld.so.conf.d/glvnd.conf && \
+    ldconfig
+RUN apt-get update
+# nvidia-container-runtime
+ENV NVIDIA_VISIBLE_DEVICES \
+    ${NVIDIA_VISIBLE_DEVICES:-all}
+ENV NVIDIA_DRIVER_CAPABILITIES \
+    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
+
+ENTRYPOINT ["/tmp/entrypoint.sh"]
diff --git a/docker/generic/Dockerfile.kinetic b/docker/generic/Dockerfile.kinetic
deleted file mode 100644
index 62b41dc6081..00000000000
--- a/docker/generic/Dockerfile.kinetic
+++ /dev/null
@@ -1,81 +0,0 @@
-FROM nvidia/cuda:9.0-devel-ubuntu16.04
-MAINTAINER Yuki Iida <yuki.iida@tier4.jp>
-
-# Develop
-RUN apt-get update && apt-get install -y \
-        software-properties-common \
-        wget curl git cmake cmake-curses-gui \
-        libboost-all-dev \
-        libflann-dev \
-        libgsl0-dev \
-        libgoogle-perftools-dev \
-        libeigen3-dev
-
-# Intall some basic GUI and sound libs
-RUN apt-get update && apt-get install -y \
-        xz-utils file locales dbus-x11 pulseaudio dmz-cursor-theme \
-        fonts-dejavu fonts-liberation hicolor-icon-theme \
-        libcanberra-gtk3-0 libcanberra-gtk-module libcanberra-gtk3-module \
-        libasound2 libgtk2.0-0 libdbus-glib-1-2 libxt6 libexif12 \
-        libgl1-mesa-glx libgl1-mesa-dri language-pack-en \
-        && update-locale LANG=en_US.UTF-8 LC_MESSAGES=POSIX
-
-# Intall some basic GUI tools
-RUN apt-get update && apt-get install -y \
-        cmake-qt-gui \
-        gnome-terminal
-
-# Intall ROS
-RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
-RUN apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
-RUN apt-get update && apt-get install -y ros-kinetic-desktop-full ros-kinetic-nmea-msgs ros-kinetic-nmea-navsat-driver ros-kinetic-sound-play ros-kinetic-jsk-visualization ros-kinetic-grid-map ros-kinetic-gps-common
-RUN apt-get update && apt-get install -y ros-kinetic-controller-manager ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-gazebo-ros-control ros-kinetic-joystick-drivers
-RUN apt-get update && apt-get install -y libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev libgl1-mesa-dev libglew-dev python-wxgtk3.0 software-properties-common libmosquitto-dev libyaml-cpp-dev python-flask python-requests
-
-# Add basic user
-ENV USERNAME autoware
-ENV PULSE_SERVER /run/pulse/native
-RUN useradd -m $USERNAME && \
-        echo "$USERNAME:$USERNAME" | chpasswd && \
-        usermod --shell /bin/bash $USERNAME && \
-        usermod -aG sudo $USERNAME && \
-        echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME && \
-        chmod 0440 /etc/sudoers.d/$USERNAME && \
-        # Replace 1000 with your user/group id
-        usermod  --uid 1000 $USERNAME && \
-        groupmod --gid 1000 $USERNAME
-
-# Setup .bashrc for ROS
-RUN echo "source /opt/ros/kinetic/setup.bash" >> /home/$USERNAME/.bashrc && \
-        #Fix for qt and X server errors
-        echo "export QT_X11_NO_MITSHM=1" >> /home/$USERNAME/.bashrc && \
-        # cd to home on login
-        echo "cd" >> /home/$USERNAME/.bashrc
-
-# Change user
-USER autoware
-
-RUN sudo rosdep init \
-        && rosdep update \
-        && echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
-
-# Install Autoware
-RUN cd && mkdir /home/$USERNAME/Autoware
-COPY --chown=autoware ./ /home/$USERNAME/Autoware/
-RUN /bin/bash -c 'source /opt/ros/kinetic/setup.bash; cd /home/$USERNAME/Autoware/ros/src; git submodule update --init --recursive; catkin_init_workspace; cd ../; rosdep install -y --from-paths /home/$USERNAME/Autoware/ros/src --ignore-src --rosdistro kinetic; ./catkin_make_release'
-RUN echo "source /home/$USERNAME/Autoware/ros/devel/setup.bash" >> /home/$USERNAME/.bashrc
-
-# Setting
-ENV LANG="en_US.UTF-8"
-RUN echo "export LANG=\"en_US.UTF-8\"" >> /home/$USERNAME/.bashrc
-
-# Install dev tools
-RUN sudo apt-get -y install vim tmux
-
-# Change Terminal Color
-RUN gconftool-2 --set "/apps/gnome-terminal/profiles/Default/use_theme_background" --type bool false
-RUN gconftool-2 --set "/apps/gnome-terminal/profiles/Default/use_theme_colors" --type bool false
-RUN gconftool-2 --set "/apps/gnome-terminal/profiles/Default/background_color" --type string "#000000"
-
-# Default CMD
-CMD ["/bin/bash"]
diff --git a/docker/generic/README.md b/docker/generic/README.md
index c2bab4c2ab4..1db9a367e62 100644
--- a/docker/generic/README.md
+++ b/docker/generic/README.md
@@ -1,29 +1,89 @@
 # Autoware Docker
-To use the Autoware Docker, first make sure the NVIDIA drivers, Docker and nvidia-docker are properly installed.
 
-[Docker installation](https://docs.docker.com/engine/installation/linux/docker-ce/ubuntu/)
+Docker can be used to allow developers to quickly get a development environment
+ready to try and develop Autoware.
 
+There are two sets of Docker images for Autoware:
+* **Base image** - Provides a development container with all the dependencies to
+build and run Autoware. When starting a container using this image, the Autoware
+source code is mounted as a volume allowing users to develop and build Autoware.
+Base images have the label *-base* in their names.
 
-[nvidia-docker installation](https://github.com/NVIDIA/nvidia-docker)
+* **Pre-built Autoware** - Provides a container with a copy of Autoware
+pre-built. This image is built on top of the base image.
 
-## How to Build
+Each set of Docker images comes with and without Cuda support. Images with Cuda
+support have the label *-cuda* in their names.
+
+This set of Dockerfiles can be used to build and run containers natively on both
+AArch64 and x86_64 systems.
+
+## Requirements
+
+* Recent version of [Docker CE](https://docs.docker.com/install/linux/docker-ce/ubuntu/)
+* [NVIDIA Docker v2](https://github.com/NVIDIA/nvidia-docker) if your system
+has Cuda support
+
+## How to build
+
+To build the docker image(s), use the **build.sh** script. For details on the
+parameters available, try:
+```
+$ ./build.sh --help
+```
+
+## How to run
+
+To start a container use the **run.sh** tool. Which container will start
+depends on the parameters passed to **run.sh**.
+
+### Examples of usage:
+
+```
+$ ./run.sh
+```
+Will start a container with pre-built Autoware and CUDA support enabled. This
+image is useful for people trying out Autoware without having to install any
+dependencies or build the project themselves. Default image:
+_autoware/autoware:latest-kinetic-cuda_
+
+```
+$ ./run.sh --base
 ```
-$ cd Autoware/docker/generic/
+Will start a container with the base image (without pre-built Autoware). The
+container will have Cuda enabled and the Autoware code base you are running
+**run.sh** from will be mounted as a volume on the container under
+_/home/autoware/Autoware_. This is the suggested image for developers using
+Docker as their development environment. Default docker image:
+_autoware/autoware:latest-kinetic-base-cuda_
 
-# Ubuntu 16.04 (Kinetic)
-$ sh build.sh kinetic
 ```
+$ ./run.sh --base --cuda off
+```
+Same as previous example, but Cuda support is disabled. This is useful if you
+are running on a machine without Cuda support. Note that packages that require
+Cuda will not be built or will execute on CPU. Default image:
+_autoware/autoware:latest-kinetic-base_
 
-## How to Run
 ```
+./run.sh --tag-prefix local --base
+```
+Will start a container with the tag prefix _local_. Note that _local_ is the
+default tag prefix when using the **build.sh** tool. Image name:
+_autoware/autoware:local-kinetic-base-cuda_
 
-# Ubuntu 16.04 (Kinetic)
-$ ./run.sh -t latest-kinetic
+For details on all parameters available and their default value, try:
+```
+$ ./run.sh --help
 ```
 
-|Option|Default|Description|
-|---|---|---|
-|-h||Show `Usage: $0 [-t <tag>] [-r <repo>] [-s <Shared directory>]`|
-|-t|latest-kinetic|Specify tag|
-|-r|autoware/autoware|Specify repo|
-|-s|/home/$USER/shared_dir|Specify shared dir|
+## Notes
+
+* The default values for the **--image** and **--tag-prefix**
+parameters in build.sh and run.sh are different. This is because run.sh defaults
+to values used to retrieve images from Docker Hub. When running containers from
+images you have built, make sure the parameters mentioned match.
+
+* Containers started with the **run.sh** tool are automatically removed upon
+exiting the container. Make sure you use the _shared_dir_ to save any data you
+want to preserve.
diff --git a/docker/generic/build.sh b/docker/generic/build.sh
index 3989afb14e0..8480dfffe5f 100755
--- a/docker/generic/build.sh
+++ b/docker/generic/build.sh
@@ -1,10 +1,104 @@
-#!/bin/sh
-
-# Build Docker Image
-if [ "$1" = "kinetic" ]
-then
-    echo "Use $1"
-    docker build -t autoware-$1 -f Dockerfile.$1 ./../.. --no-cache
-else
-    echo "Select distribution, kinetic"
+#!/bin/bash
+
+# Default settings
+CUDA="on"
+IMAGE_NAME="autoware/autoware"
+TAG_PREFIX="local"
+ROS_DISTRO="kinetic"
+BASE_ONLY="false"
+
+function usage() {
+    echo "Usage: $0 [OPTIONS]"
+    echo "    -b,--base-only        Build the base image(s) only."
+    echo "                          Default:$BASE_ONLY"
+    echo "    -c,--cuda <on|off>    Enable Cuda support in the Docker."
+    echo "                          Default:$CUDA"
+    echo "    -h,--help             Display the usage and exit."
+    echo "    -i,--image <name>     Set docker images name."
+    echo "                          Default:$IMAGE_NAME"
+    echo "    -t,--tag-prefix <tag> Tag prefix use for the docker images."
+    echo "                          Default:$TAG_PREFIX"
+}
+
+OPTS=`getopt --options bc:hi:t: \
+         --long base-only,cuda:,help,image-name:,tag-prefix: \
+         --name "$0" -- "$@"`
+eval set -- "$OPTS"
+
+while true; do
+  case $1 in
+    -b|--base-only)
+      BASE_ONLY="true"
+      shift 1
+      ;;
+    -c|--cuda)
+      param=$(echo $2 | tr '[:upper:]' '[:lower:]')
+      case "${param}" in
+        "on"|"off") CUDA="${param}" ;;
+        *) echo "Invalid cuda option: $2"; exit 1 ;;
+      esac
+      shift 2
+      ;;
+    -h|--help)
+      usage
+      exit 0
+      ;;
+    -i|--image-name)
+      IMAGE_NAME="$2"
+      shift 2
+      ;;
+    -t|--tag-prefix)
+      TAG_PREFIX="$2"
+      shift 2
+      ;;
+    --)
+      if [ ! -z $2 ];
+      then
+        echo "Invalid parameter: $2"
+        exit 1
+      fi
+      break
+      ;;
+    *)
+      echo "Invalid option"
+      exit 1
+      ;;
+  esac
+done
+
+echo "Using options:"
+echo -e "\tROS distro: $ROS_DISTRO"
+echo -e "\tImage name: $IMAGE_NAME"
+echo -e "\tTag prefix: $TAG_PREFIX"
+echo -e "\tCuda support: $CUDA"
+echo -e "\tBase only: $BASE_ONLY"
+
+BASE=$IMAGE_NAME:$TAG_PREFIX-$ROS_DISTRO-base
+
+docker build \
+    --rm \
+    --tag $BASE \
+    --build-arg ROS_DISTRO=$ROS_DISTRO \
+    --file Dockerfile.base ./../..
+
+CUDA_SUFFIX=""
+if [ $CUDA == "on" ]; then
+    CUDA_SUFFIX="-cuda"
+    docker build \
+        --rm \
+        --tag $BASE$CUDA_SUFFIX \
+        --build-arg FROM_ARG=$BASE \
+        --file Dockerfile.cuda .
 fi
+
+if [ "$BASE_ONLY" == "true" ]; then
+    echo "Finished building the base image(s) only."
+    exit 0
+fi
+
+docker build \
+    --rm \
+    --tag $IMAGE_NAME:$TAG_PREFIX-$ROS_DISTRO$CUDA_SUFFIX \
+    --build-arg FROM_ARG=$BASE$CUDA_SUFFIX \
+    --build-arg ROS_DISTRO=$ROS_DISTRO \
+    --file Dockerfile ./../..
diff --git a/docker/generic/dependencies b/docker/generic/dependencies
new file mode 100644
index 00000000000..5e9cc528725
--- /dev/null
+++ b/docker/generic/dependencies
@@ -0,0 +1,31 @@
+ros-$ROS_DISTRO-desktop-full
+ros-$ROS_DISTRO-automotive-navigation-msgs
+ros-$ROS_DISTRO-automotive-platform-msgs
+ros-$ROS_DISTRO-controller-manager
+ros-$ROS_DISTRO-effort-controllers
+ros-$ROS_DISTRO-gazebo-ros-control
+ros-$ROS_DISTRO-gps-common
+ros-$ROS_DISTRO-grid-map-cv
+ros-$ROS_DISTRO-grid-map-msgs
+ros-$ROS_DISTRO-grid-map-ros
+ros-$ROS_DISTRO-grid-map-visualization
+ros-$ROS_DISTRO-gscam
+ros-$ROS_DISTRO-image-view2
+ros-$ROS_DISTRO-imu-filter-madgwick
+ros-$ROS_DISTRO-imu-tools
+ros-$ROS_DISTRO-joint-state-controller
+ros-$ROS_DISTRO-jsk-recognition-msgs
+ros-$ROS_DISTRO-jsk-recognition-utils
+ros-$ROS_DISTRO-jsk-rviz-plugins
+ros-$ROS_DISTRO-jsk-topic-tools
+ros-$ROS_DISTRO-nmea-msgs
+ros-$ROS_DISTRO-pacmod-msgs
+ros-$ROS_DISTRO-position-controllers
+ros-$ROS_DISTRO-rosbridge-server
+ros-$ROS_DISTRO-sound-play
+ros-$ROS_DISTRO-transmission-interface
+ros-$ROS_DISTRO-velocity-controllers
+ros-$ROS_DISTRO-velodyne
+ros-$ROS_DISTRO-velodyne-description
+ros-$ROS_DISTRO-velodyne-gazebo-plugins
+ros-$ROS_DISTRO-velodyne-pointcloud
diff --git a/docker/generic/entrypoint.sh b/docker/generic/entrypoint.sh
new file mode 100755
index 00000000000..ca1db766814
--- /dev/null
+++ b/docker/generic/entrypoint.sh
@@ -0,0 +1,22 @@
+#!/bin/bash
+
+set -e
+
+DEFAULT_USER_ID=1000
+
+#
+# Ensure host and container have the same user ID. This is to allow both sides
+# to read and write the shared directories.
+#
+if [ "$USER_ID" != "$DEFAULT_USER_ID" ]; then
+    echo "Changing autoware user ID to match your host's user ID ($USER_ID)." 
+    echo "This operation can take a while..."
+
+    usermod --uid $USER_ID autoware
+
+    # Ensure all files in the home directory are owned by the new user ID
+    find /home/autoware -user $DEFAULT_USER_ID -exec chown -h $USER_ID {} \;
+fi
+
+# Start an interactive shell using user 'autoware'
+sudo -iu autoware
diff --git a/docker/generic/hooks/build b/docker/generic/hooks/build
new file mode 100644
index 00000000000..816502bb475
--- /dev/null
+++ b/docker/generic/hooks/build
@@ -0,0 +1,27 @@
+#!/bin/bash
+
+. ./hooks/env
+
+# $IMAGE_NAME var is injected into the build so the tag is correct.
+echo "[***] Build hook running"
+
+# Build base dependencies
+docker build \
+    -t $BASE \
+    --build-arg ROS_DISTRO=$ROS_DISTRO \
+    -f Dockerfile.base ./../..
+docker push $BASE
+
+# Build cuda dependencies
+docker build \
+    -t $BASE_CUDA \
+    --build-arg FROM_ARG=$BASE \
+    -f Dockerfile.cuda .
+docker push $BASE_CUDA
+
+# Build autoware-cuda
+docker build \
+    -t $IMAGE_NAME \
+    --build-arg FROM_ARG=$BASE_CUDA \
+    --build-arg ROS_DISTRO=$ROS_DISTRO \
+    -f Dockerfile ./../..
diff --git a/docker/generic/hooks/env b/docker/generic/hooks/env
new file mode 100644
index 00000000000..439a375cac1
--- /dev/null
+++ b/docker/generic/hooks/env
@@ -0,0 +1,15 @@
+[ -n "$SOURCE_BRANCH" ]  || SOURCE_BRANCH=$(git symbolic-ref -q --short HEAD)
+[ -n "$GIT_SHA1" ]       || GIT_SHA1=$(git rev-parse -q HEAD)
+
+# $IMAGE_NAME of type XXX-ROS_DISTRO-cuda | XXX-ROS_DISTRO-cuda-rc
+
+BASE=${IMAGE_NAME:0: -5}-base #remove '-cuda' from $IMAGE_NAME string
+BASE_CUDA=$BASE-cuda
+LATEST_TAG="ON"
+if [[ "${SOURCE_BRANCH}" =~ "release/" ]]; then
+  BASE=${IMAGE_NAME:0: -8}-base-rc #remove '-cuda-rc' from $IMAGE_NAME string
+  BASE_CUDA=$BASE-cuda-rc
+  LATEST_TAG="OFF"
+fi
+
+ROS_DISTRO=kinetic
diff --git a/docker/generic/hooks/post_push b/docker/generic/hooks/post_push
new file mode 100755
index 00000000000..ed474c82833
--- /dev/null
+++ b/docker/generic/hooks/post_push
@@ -0,0 +1,17 @@
+#!/bin/bash
+
+set -e
+
+. ./hooks/env
+
+if [[ "${LATEST_TAG}" =~ "ON" ]]; then
+  # Tag and push image for latest tag
+  docker tag $BASE ${DOCKER_REPO}:latest-$ROS_DISTRO-base
+  docker push ${DOCKER_REPO}:latest-$ROS_DISTRO-base
+  
+  docker tag $BASE_CUDA ${DOCKER_REPO}:latest-$ROS_DISTRO-base-cuda
+  docker push ${DOCKER_REPO}:latest-$ROS_DISTRO-base-cuda
+  
+  docker tag $IMAGE_NAME ${DOCKER_REPO}:latest-$ROS_DISTRO-cuda
+  docker push ${DOCKER_REPO}:latest-$ROS_DISTRO-cuda
+fi
diff --git a/docker/generic/run.sh b/docker/generic/run.sh
index e0b7cc73486..923b75a23f8 100755
--- a/docker/generic/run.sh
+++ b/docker/generic/run.sh
@@ -1,52 +1,145 @@
 #!/bin/bash
 
-usage() { echo "Usage: $0 [-t <tag>] [-r <repo>] [-s <Shared directory>]" 1>&2; exit 1; }
+# Default settings
+CUDA="on"
+IMAGE_NAME="autoware/autoware"
+TAG_PREFIX="latest"
+ROS_DISTRO="kinetic"
+BASE_ONLY="false"
+PRE_RELEASE="off"
+AUTOWARE_GROUP_ID=15214
 
-# Defaults
-XSOCK=/tmp/.X11-unix
-XAUTH=/home/$USER/.Xauthority
-SHARED_DIR=/home/autoware/shared_dir
-HOST_DIR=/home/$USER/shared_dir
-DOCKER_HUB_REPO="autoware/autoware"
-TAG="latest-kinetic"
-
-while getopts ":ht:r:s:" opt; do
-  case $opt in
-    h)
+function usage() {
+    echo "Usage: $0 [OPTIONS]"
+    echo "    -b,--base-only               Run the base image only."
+    echo "                                 Default:$BASE_ONLY"
+    echo "    -c,--cuda <on|off>           Enable Cuda support in the Docker."
+    echo "                                 Default:$CUDA"
+    echo "    -h,--help                    Display the usage and exit."
+    echo "    -i,--image <name>            Set docker images name."
+    echo "                                 Default:$IMAGE_NAME"
+    echo "    -p,--pre-release <on|off>    Use pre-release image."
+    echo "                                 Default:$PRE_RELEASE"
+    echo "    -t,--tag-prefix <tag>        Tag prefix use for the docker images."
+    echo "                                 Default:$TAG_PREFIX"
+}
+
+# Convert a relative directory path to absolute
+function abspath() {
+    local path=$1
+    if [ ! -d $path ]; then
+	exit 1
+    fi
+    pushd $path > /dev/null
+    echo $(pwd)
+    popd > /dev/null
+}
+
+OPTS=`getopt --options bc:hi:p:t: \
+         --long base-only,cuda:,help,image-name:,pre-release:,tag-prefix: \
+         --name "$0" -- "$@"`
+eval set -- "$OPTS"
+
+while true; do
+  case $1 in
+    -b|--base-only)
+      BASE_ONLY="true"
+      shift 1
+      ;;
+    -c|--cuda)
+      param=$(echo $2 | tr '[:upper:]' '[:lower:]')
+      case "${param}" in
+        "on"|"off") CUDA="${param}" ;;
+        *) echo "Invalid cuda option: $2"; exit 1 ;;
+      esac
+      shift 2
+      ;;
+    -h|--help)
       usage
-      exit
+      exit 0
       ;;
-    t)
-      TAG=$OPTARG
+    -i|--image-name)
+      IMAGE_NAME="$2"
+      shift 2
       ;;
-    r )
-      DOCKER_HUB_REPO=$OPTARG
+    -p|--pre-release)
+      param=$(echo $2 | tr '[:upper:]' '[:lower:]')
+      case "${param}" in
+        "on"|"off") PRE_RELEASE="${param}" ;;
+        *) echo "Invalid pre-release option: $2"; exit 1 ;;
+      esac
+      shift 2
       ;;
-    s)
-      HOST_DIR=$OPTARG
+    -t|--tag-prefix)
+      TAG_PREFIX="$2"
+      shift 2
       ;;
-    \?)
-      echo "Invalid option: -$OPTARG" >&2
-      exit 1
+    --)
+      if [ ! -z $2 ];
+      then
+        echo "Invalid parameter: $2"
+        exit 1
+      fi
+      break
       ;;
-    :)
-      echo "Option -$OPTARG requires an argument." >&2
+    *)
+      echo "Invalid option"
       exit 1
       ;;
   esac
 done
 
-echo "Using $DOCKER_HUB_REPO:$TAG"
-echo "Shared directory: ${HOST_DIR}"
+echo "Using options:"
+echo -e "\tROS distro: $ROS_DISTRO"
+echo -e "\tImage name: $IMAGE_NAME"
+echo -e "\tTag prefix: $TAG_PREFIX"
+echo -e "\tCuda support: $CUDA"
+echo -e "\tBase only: $BASE_ONLY"
+echo -e "\tPre-release version: $PRE_RELEASE"
+
+SUFFIX=""
+RUNTIME=""
+
+XSOCK=/tmp/.X11-unix
+XAUTH=$HOME/.Xauthority
+
+SHARED_DOCKER_DIR=/home/autoware/shared_dir
+SHARED_HOST_DIR=$HOME/shared_dir
+
+AUTOWARE_DOCKER_DIR=/home/autoware/Autoware
+AUTOWARE_HOST_DIR=$(abspath "../..")
+
+VOLUMES="--volume=$XSOCK:$XSOCK:rw
+         --volume=$XAUTH:$XAUTH:rw
+         --volume=$SHARED_HOST_DIR:$SHARED_DOCKER_DIR:rw"
+
+if [ "$BASE_ONLY" == "true" ]; then
+    SUFFIX=$SUFFIX"-base"
+    VOLUMES="$VOLUMES --volume=$AUTOWARE_HOST_DIR:$AUTOWARE_DOCKER_DIR "
+fi
+
+if [ $CUDA == "on" ]; then
+    SUFFIX=$SUFFIX"-cuda"
+    RUNTIME="--runtime=nvidia"
+fi
+
+if [ $PRE_RELEASE == "on" ]; then
+    SUFFIX=$SUFFIX"-rc"
+fi
+
+# Create the shared directory in advance to ensure it is owned by the host user
+mkdir -p $SHARED_HOST_DIR
+
+IMAGE=$IMAGE_NAME:$TAG_PREFIX-$ROS_DISTRO$SUFFIX
+echo "Launching $IMAGE"
 
-nvidia-docker run \
+docker run \
     -it --rm \
-    --volume=$XSOCK:$XSOCK:rw \
-    --volume=$XAUTH:$XAUTH:rw \
-    --volume=$HOST_DIR:$SHARED_DIR:rw \
+    $VOLUMES \
     --env="XAUTHORITY=${XAUTH}" \
     --env="DISPLAY=${DISPLAY}" \
-    -u autoware \
-    --privileged -v /dev/bus/usb:/dev/bus/usb \
+    --env="USER_ID=$(id -u)" \
+    --privileged \
     --net=host \
-    $DOCKER_HUB_REPO:$TAG
+    $RUNTIME \
+    $IMAGE
diff --git a/ros/.gitignore b/ros/.gitignore
index 1512f4f62f2..098ed1b11ae 100644
--- a/ros/.gitignore
+++ b/ros/.gitignore
@@ -12,6 +12,8 @@ catkin_generated/
 /build/
 /devel/
 /install/
+/log/
+/coverage_/
 /gtest/
 /build-*
 /devel-*

From 3ccee78aaa828975e16c5d9e07b7442d9b5c745a Mon Sep 17 00:00:00 2001
From: Theodore <greytrt@gmail.com>
Date: Wed, 13 Mar 2019 16:33:09 +0000
Subject: [PATCH 18/23] Removing CUDA dependencies for Darknet Yolov3 (#1784)

* Removing CUDA dependencies for Darknet yolov3

If the host machine does not have CUDA, this will build the vision_darknet_detect package based on a pre-built darknet directory (which doesn't require CUDA as there are no CUDA dependencies for yolov3).

* Update ros/src/computing/perception/detection/vision_detector/packages/vision_darknet_detect/CMakeLists.txt

Co-Authored-By: K1504296 <greytrt@gmail.com>
---
 .../vision_darknet_detect/CMakeLists.txt      | 117 ++++++++++++++++--
 1 file changed, 110 insertions(+), 7 deletions(-)

diff --git a/ros/src/computing/perception/detection/vision_detector/packages/vision_darknet_detect/CMakeLists.txt b/ros/src/computing/perception/detection/vision_detector/packages/vision_darknet_detect/CMakeLists.txt
index 52f54599ec7..d764645fb94 100644
--- a/ros/src/computing/perception/detection/vision_detector/packages/vision_darknet_detect/CMakeLists.txt
+++ b/ros/src/computing/perception/detection/vision_detector/packages/vision_darknet_detect/CMakeLists.txt
@@ -166,13 +166,116 @@ IF (CUDA_FOUND)
             LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
             RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
             )
-    install(DIRECTORY launch/
-            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
-            PATTERN ".svn" EXCLUDE)
 
-    install(DIRECTORY darknet/cfg/
-            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/darknet/cfg/
-            PATTERN ".svn" EXCLUDE)
 ELSE()
-    message("darknet won't be built, CUDA was not found.")
+    message(WARNING "Building vision_darknet_detect without CUDA")
+	
+    add_library(vision_darknet_detect_lib SHARED
+            darknet/src/gemm.c
+            darknet/src/utils.c
+            darknet/src/cuda.c
+            darknet/src/deconvolutional_layer.c
+            darknet/src/convolutional_layer.c
+            darknet/src/list.c
+            darknet/src/image.c
+            darknet/src/activations.c
+            darknet/src/im2col.c
+            darknet/src/col2im.c
+            darknet/src/blas.c
+            darknet/src/crop_layer.c
+            darknet/src/dropout_layer.c
+            darknet/src/maxpool_layer.c
+            darknet/src/softmax_layer.c
+            darknet/src/data.c
+            darknet/src/matrix.c
+            darknet/src/network.c
+            darknet/src/connected_layer.c
+            darknet/src/cost_layer.c
+            darknet/src/parser.c
+            darknet/src/option_list.c
+            darknet/src/detection_layer.c
+            darknet/src/route_layer.c
+            darknet/src/upsample_layer.c
+            darknet/src/box.c
+            darknet/src/normalization_layer.c
+            darknet/src/avgpool_layer.c
+            darknet/src/layer.c
+            darknet/src/local_layer.c
+            darknet/src/shortcut_layer.c
+            darknet/src/logistic_layer.c
+            darknet/src/activation_layer.c
+            darknet/src/rnn_layer.c
+            darknet/src/gru_layer.c
+            darknet/src/crnn_layer.c
+            darknet/src/batchnorm_layer.c
+            darknet/src/region_layer.c
+            darknet/src/reorg_layer.c
+            darknet/src/tree.c
+            darknet/src/lstm_layer.c
+            darknet/src/l2norm_layer.c
+            darknet/src/yolo_layer.c
+            )
+
+    target_include_directories(vision_darknet_detect_lib PRIVATE
+            ${OpenCV_INCLUDE_DIR}
+            ${catkin_INCLUDE_DIRS}
+            ${autoware_config_msgs_INCLUDE_DIRS}
+            ${autoware_msgs_INCLUDE_DIRS}
+            ${Boost_INCLUDE_DIRS}
+            ${PROJECT_SOURCE_DIR}/darknet
+            ${PROJECT_SOURCE_DIR}/darknet/src
+            ${PROJECT_SOURCE_DIR}/src
+            )
+
+    target_link_libraries(vision_darknet_detect_lib
+            ${OpenCV_LIBRARIES}
+            ${catkin_LIBRARIES}
+            ${PCL_LIBRARIES}
+            ${Qt5Core_LIBRARIES}
+            m
+            pthread
+            )
+
+    add_dependencies(vision_darknet_detect_lib
+            ${catkin_EXPORTED_TARGETS}
+            )
+
+    #ros node
+    add_executable(vision_darknet_detect
+            src/vision_darknet_detect_node.cpp
+            src/vision_darknet_detect.cpp
+            src/vision_darknet_detect.h
+            )
+
+    target_include_directories(vision_darknet_detect PRIVATE
+            ${catkin_INCLUDE_DIRS}
+            ${autoware_config_msgs_INCLUDE_DIRS}
+            ${autoware_msgs_INCLUDE_DIRS}
+            ${PROJECT_SOURCE_DIR}/darknet
+            ${PROJECT_SOURCE_DIR}/darknet/src
+            ${PROJECT_SOURCE_DIR}/src
+            )
+
+    target_link_libraries(vision_darknet_detect
+            ${catkin_LIBRARIES}
+            ${OpenCV_LIBS}
+            vision_darknet_detect_lib
+            )
+    add_dependencies(vision_darknet_detect
+            ${catkin_EXPORTED_TARGETS}
+            )
+    install(TARGETS vision_darknet_detect_lib vision_darknet_detect
+            ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+            LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+            RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+            )
+    
 ENDIF ()
+
+install(DIRECTORY launch/
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+        PATTERN ".svn" EXCLUDE)
+
+install(DIRECTORY darknet/cfg/
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/darknet/cfg/
+        PATTERN ".svn" EXCLUDE)

From 8381c4466d38f8bdbb1c9076ff0619b3e1c474e0 Mon Sep 17 00:00:00 2001
From: Akihito Ohsato <aohsato@gmail.com>
Date: Thu, 14 Mar 2019 13:14:03 +0900
Subject: [PATCH 19/23] [Feature] Improve Hybrid A* planner (#1594)

* Delete obstacle_sim from astar_planner package, replaced to lidar_fake_perception

* Modify package name, astar_planner -> waypoint_planner, and create astar_planner library package

* Delete obstacle_avoid/astar* and modify its dependency to astar_planner library

* Fix astar_navi with astar_planner library

* Refactor astar_navi by separating HAstar library and fixing coodinate system

* Rename obstacle_avoid -> astar_avoid and under refactoring

* Fix cost function and configures

* Fix backward search and refactor configurations

* Apply clang-format

* Refactor include

* Fix typo and so on

* Improve astar_avoid by incremental goal search

* Apply clang-format

* Revert package names

* Fix package/code names

* Update runtime_manager

* Improve astar_avoid to execute avoidance behavior by state transition (by rebuild decision maker)

* Fix PascalCase message names by #1408

* Remove obstacle_avoid directory

* Fix default parameter for costmap topic

* Fix warning and initialize condition

* Remove use_avoidance_state mode (TODO: after merging rebuild decision maker)

* Improve astar_avoid behavior by simple state transition and multi-threading

* Apply clang-format

* Fix replan_interval in astar_avoid

* Add descriptions for paramters

* Rename pkg name, astar_planner -> waypoint_planner

* Fix param name

* Fix avoid waypoints height

* Fix parameter and formalize code

* Add README for freespace/waypoint_planner

* Add License terms

Co-Authored-By: aohsato <aohsato@gmail.com>

Add License terms

Co-Authored-By: aohsato <aohsato@gmail.com>

Add License terms

Co-Authored-By: aohsato <aohsato@gmail.com>

Add License terms

Co-Authored-By: aohsato <aohsato@gmail.com>

Add License terms

Co-Authored-By: aohsato <aohsato@gmail.com>

Fix CHANGELOG

Co-Authored-By: aohsato <aohsato@gmail.com>

Add License terms

Co-Authored-By: aohsato <aohsato@gmail.com>

Add License terms

Co-Authored-By: aohsato <aohsato@gmail.com>

* Fix astar_navi/README.md

* Add License terms

* Fix const pointer

* Added unit test base

* Restructured folders

* Fix bug by adding AstarSearch reset

* Fix WaveFrontNode initialization

Co-Authored-By: aohsato <aohsato@gmail.com>

* Fix variable name

* Refactor threading

* Re-adding lidar_fake_perception

* Fix the condition to judge reaching goal

* Add 'use_decision state' mode to transit avoidance state by decision_maker

* Fix calcDiffOfRadian (if diff > 2pi)

* Feature/test astar planner (#1753)

* Restructured folders

* Added unit test base

* Removed remaining folder

* Test WIP

* Added astar_util tests and base file for astar_search tests

* Updated to ROS Cpp Style guidelines

* Added test for SimpleNode constructor

* Updated Copyright date

* Added tests for astar algorithm

* Added default constructor to WaveFront struct

* Revert use_state_decision mode (94af7b6)

* Fix costmap topic names by merging costmap_generator
---
 ros/src/.config/rviz/default.rviz             |   2 +-
 .../common/lib/astar_search/CMakeLists.txt    |  63 ++
 .../include/astar_search/astar_search.h       | 111 +++
 .../include/astar_search}/astar_util.h        |  24 +-
 .../common/lib/astar_search/package.xml       |  34 +
 .../lib/astar_search/src/astar_search.cpp     | 708 ++++++++++++++
 .../lib/astar_search/src}/astar_util.cpp      |  10 +-
 .../test/src/test_astar_search.cpp            | 169 ++++
 .../astar_search/test/src/test_astar_util.cpp | 160 ++++
 .../lib/astar_search/test/src/test_class.cpp  | 130 +++
 .../lib/astar_search/test/src/test_class.h    |  83 ++
 .../lib/astar_search/test/src/test_main.cpp   |  30 +
 .../astar_search/test/test_astar_search.test  |   5 +
 .../packages/freespace_planner/CMakeLists.txt |  43 +-
 .../packages/freespace_planner/README.md      |  56 ++
 .../freespace_planner/include/astar_util.cpp  |  25 -
 .../freespace_planner/include/astar_util.h    | 128 ---
 .../include/freespace_planner/astar_navi.h    |  75 ++
 .../launch/astar_navi.launch                  |  78 +-
 .../nodes/astar_navi/astar_navi.cpp           | 103 --
 .../nodes/astar_navi/astar_search.cpp         | 664 -------------
 .../nodes/astar_navi/astar_search.h           |  93 --
 .../nodes/astar_navi/search_info_ros.cpp      | 106 ---
 .../nodes/astar_navi/search_info_ros.h        |  52 --
 .../packages/freespace_planner/package.xml    |  14 +-
 .../src/astar_navi/astar_navi.cpp             | 174 ++++
 .../src/astar_navi/astar_navi_node.cpp        |  25 +
 .../packages/astar_planner/CMakeLists.txt     |  66 --
 .../launch/obstacle_avoid.launch              |  75 --
 .../nodes/obstacle_avoid/astar_search.cpp     | 881 ------------------
 .../nodes/obstacle_avoid/astar_search.h       | 137 ---
 .../nodes/obstacle_avoid/obstacle_avoid.cpp   | 230 -----
 .../obstacle_sim/obstacle_sim.cpp             | 234 -----
 .../obstacle_sim/obstacle_sim.h               |  74 --
 .../obstacle_sim/obstacle_sim_node.cpp        |  17 -
 .../nodes/obstacle_avoid/search_info_ros.cpp  | 298 ------
 .../nodes/obstacle_avoid/search_info_ros.h    | 190 ----
 .../packages/lattice_planner/CMakeLists.txt   |   5 +-
 .../packages/lattice_planner/package.xml      |   4 +-
 .../packages/waypoint_maker/CHANGELOG.rst     |   2 +-
 .../CHANGELOG.rst                             |   6 +-
 .../packages/waypoint_planner/CMakeLists.txt  |  72 ++
 .../packages/waypoint_planner/README.md       |  73 ++
 .../astar_avoid/astar_avoid.h                 | 121 +++
 .../interface.yaml                            |   6 +-
 .../launch/astar_avoid.launch                 |  66 ++
 .../launch/velocity_set.launch                |   2 +-
 .../package.xml                               |  11 +-
 .../src/astar_avoid/astar_avoid.cpp           | 386 ++++++++
 .../src/astar_avoid/astar_avoid_node.cpp      |  25 +
 .../src}/velocity_set/libvelocity_set.cpp     |   2 +-
 .../src}/velocity_set/libvelocity_set.h       |   0
 .../src}/velocity_set/velocity_set.cpp        |   7 +-
 .../src}/velocity_set/velocity_set_info.cpp   |  15 +-
 .../src}/velocity_set/velocity_set_info.h     |   3 -
 .../src}/velocity_set/velocity_set_path.cpp   |   2 +-
 .../src}/velocity_set/velocity_set_path.h     |   0
 .../runtime_manager/scripts/computing.yaml    | 332 ++++---
 58 files changed, 2871 insertions(+), 3636 deletions(-)
 create mode 100644 ros/src/computing/planning/common/lib/astar_search/CMakeLists.txt
 create mode 100644 ros/src/computing/planning/common/lib/astar_search/include/astar_search/astar_search.h
 rename ros/src/computing/planning/{motion/packages/astar_planner/nodes/obstacle_avoid => common/lib/astar_search/include/astar_search}/astar_util.h (86%)
 create mode 100644 ros/src/computing/planning/common/lib/astar_search/package.xml
 create mode 100644 ros/src/computing/planning/common/lib/astar_search/src/astar_search.cpp
 rename ros/src/computing/planning/{motion/packages/astar_planner/nodes/obstacle_avoid => common/lib/astar_search/src}/astar_util.cpp (82%)
 create mode 100644 ros/src/computing/planning/common/lib/astar_search/test/src/test_astar_search.cpp
 create mode 100644 ros/src/computing/planning/common/lib/astar_search/test/src/test_astar_util.cpp
 create mode 100644 ros/src/computing/planning/common/lib/astar_search/test/src/test_class.cpp
 create mode 100644 ros/src/computing/planning/common/lib/astar_search/test/src/test_class.h
 create mode 100644 ros/src/computing/planning/common/lib/astar_search/test/src/test_main.cpp
 create mode 100644 ros/src/computing/planning/common/lib/astar_search/test/test_astar_search.test
 create mode 100644 ros/src/computing/planning/mission/packages/freespace_planner/README.md
 delete mode 100644 ros/src/computing/planning/mission/packages/freespace_planner/include/astar_util.cpp
 delete mode 100644 ros/src/computing/planning/mission/packages/freespace_planner/include/astar_util.h
 create mode 100644 ros/src/computing/planning/mission/packages/freespace_planner/include/freespace_planner/astar_navi.h
 delete mode 100644 ros/src/computing/planning/mission/packages/freespace_planner/nodes/astar_navi/astar_navi.cpp
 delete mode 100644 ros/src/computing/planning/mission/packages/freespace_planner/nodes/astar_navi/astar_search.cpp
 delete mode 100644 ros/src/computing/planning/mission/packages/freespace_planner/nodes/astar_navi/astar_search.h
 delete mode 100644 ros/src/computing/planning/mission/packages/freespace_planner/nodes/astar_navi/search_info_ros.cpp
 delete mode 100644 ros/src/computing/planning/mission/packages/freespace_planner/nodes/astar_navi/search_info_ros.h
 create mode 100644 ros/src/computing/planning/mission/packages/freespace_planner/src/astar_navi/astar_navi.cpp
 create mode 100644 ros/src/computing/planning/mission/packages/freespace_planner/src/astar_navi/astar_navi_node.cpp
 delete mode 100644 ros/src/computing/planning/motion/packages/astar_planner/CMakeLists.txt
 delete mode 100644 ros/src/computing/planning/motion/packages/astar_planner/launch/obstacle_avoid.launch
 delete mode 100644 ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/astar_search.cpp
 delete mode 100644 ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/astar_search.h
 delete mode 100644 ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/obstacle_avoid.cpp
 delete mode 100644 ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/obstacle_sim/obstacle_sim.cpp
 delete mode 100644 ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/obstacle_sim/obstacle_sim.h
 delete mode 100644 ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/obstacle_sim/obstacle_sim_node.cpp
 delete mode 100644 ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/search_info_ros.cpp
 delete mode 100644 ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/search_info_ros.h
 rename ros/src/computing/planning/motion/packages/{astar_planner => waypoint_planner}/CHANGELOG.rst (97%)
 create mode 100644 ros/src/computing/planning/motion/packages/waypoint_planner/CMakeLists.txt
 create mode 100644 ros/src/computing/planning/motion/packages/waypoint_planner/README.md
 create mode 100644 ros/src/computing/planning/motion/packages/waypoint_planner/include/waypoint_planner/astar_avoid/astar_avoid.h
 rename ros/src/computing/planning/motion/packages/{astar_planner => waypoint_planner}/interface.yaml (62%)
 create mode 100644 ros/src/computing/planning/motion/packages/waypoint_planner/launch/astar_avoid.launch
 rename ros/src/computing/planning/motion/packages/{astar_planner => waypoint_planner}/launch/velocity_set.launch (91%)
 rename ros/src/computing/planning/motion/packages/{astar_planner => waypoint_planner}/package.xml (69%)
 create mode 100644 ros/src/computing/planning/motion/packages/waypoint_planner/src/astar_avoid/astar_avoid.cpp
 create mode 100644 ros/src/computing/planning/motion/packages/waypoint_planner/src/astar_avoid/astar_avoid_node.cpp
 rename ros/src/computing/planning/motion/packages/{astar_planner/nodes => waypoint_planner/src}/velocity_set/libvelocity_set.cpp (99%)
 rename ros/src/computing/planning/motion/packages/{astar_planner/nodes => waypoint_planner/src}/velocity_set/libvelocity_set.h (100%)
 rename ros/src/computing/planning/motion/packages/{astar_planner/nodes => waypoint_planner/src}/velocity_set/velocity_set.cpp (99%)
 rename ros/src/computing/planning/motion/packages/{astar_planner/nodes => waypoint_planner/src}/velocity_set/velocity_set_info.cpp (91%)
 rename ros/src/computing/planning/motion/packages/{astar_planner/nodes => waypoint_planner/src}/velocity_set/velocity_set_info.h (96%)
 rename ros/src/computing/planning/motion/packages/{astar_planner/nodes => waypoint_planner/src}/velocity_set/velocity_set_path.cpp (99%)
 rename ros/src/computing/planning/motion/packages/{astar_planner/nodes => waypoint_planner/src}/velocity_set/velocity_set_path.h (100%)

diff --git a/ros/src/.config/rviz/default.rviz b/ros/src/.config/rviz/default.rviz
index 87ad3fc1e05..078c92fd436 100644
--- a/ros/src/.config/rviz/default.rviz
+++ b/ros/src/.config/rviz/default.rviz
@@ -394,7 +394,7 @@ Visualization Manager:
       Draw Behind: true
       Enabled: true
       Name: Occupancy Grid Map
-      Topic: /grid_map_visualization/distance_transform
+      Topic: /grid_map_filter_visualization/distance_transform
       Unreliable: false
       Use Timestamp: false
       Value: true
diff --git a/ros/src/computing/planning/common/lib/astar_search/CMakeLists.txt b/ros/src/computing/planning/common/lib/astar_search/CMakeLists.txt
new file mode 100644
index 00000000000..89cb749c1b0
--- /dev/null
+++ b/ros/src/computing/planning/common/lib/astar_search/CMakeLists.txt
@@ -0,0 +1,63 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(astar_search)
+
+set(CMAKE_CXX_FLAGS "-O2 -Wall ${CMAKE_CXX_FLAGS}")
+
+find_package(catkin REQUIRED COMPONENTS
+  autoware_build_flags
+  roscpp
+  tf
+  tf_conversions
+  pcl_ros
+  sensor_msgs
+  geometry_msgs
+  autoware_msgs
+)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES astar_search
+  CATKIN_DEPENDS
+  roscpp
+  tf
+  tf_conversions
+  pcl_ros
+  sensor_msgs
+  geometry_msgs
+  autoware_msgs
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_library(astar_search
+  src/astar_search.cpp
+  src/astar_util.cpp
+)
+
+target_link_libraries(astar_search
+  ${catkin_LIBRARIES}
+)
+
+add_dependencies(astar_search
+  ${catkin_EXPORTED_TARGETS}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+	DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+	FILES_MATCHING PATTERN "*.h"
+)
+
+install(TARGETS astar_search
+	ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+	LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+	RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  add_rostest_gtest(astar_search-test test/test_astar_search.test test/src/test_main.cpp test/src/test_astar_util.cpp test/src/test_astar_search.cpp test/src/test_class.cpp)
+  target_link_libraries(astar_search-test ${catkin_LIBRARIES} astar_search)
+endif()
diff --git a/ros/src/computing/planning/common/lib/astar_search/include/astar_search/astar_search.h b/ros/src/computing/planning/common/lib/astar_search/include/astar_search/astar_search.h
new file mode 100644
index 00000000000..ea2d6c35b0a
--- /dev/null
+++ b/ros/src/computing/planning/common/lib/astar_search/include/astar_search/astar_search.h
@@ -0,0 +1,111 @@
+/*
+ * Copyright 2015-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ASTER_PLANNER_H
+#define ASTER_PLANNER_H
+
+#include <iostream>
+#include <vector>
+#include <queue>
+#include <string>
+#include <chrono>
+
+#include <ros/ros.h>
+#include <tf/tf.h>
+#include <nav_msgs/OccupancyGrid.h>
+#include <geometry_msgs/PoseArray.h>
+#include <nav_msgs/Path.h>
+
+#include "astar_search/astar_util.h"
+
+class AstarSearch
+{
+  friend class TestClass;
+
+public:
+  AstarSearch();
+  ~AstarSearch();
+  void initialize(const nav_msgs::OccupancyGrid& costmap);
+  bool makePlan(const geometry_msgs::Pose& start_pose, const geometry_msgs::Pose& goal_pose);
+  void reset();
+
+  const nav_msgs::Path& getPath() const
+  {
+    return path_;
+  }
+
+private:
+  void createStateUpdateTable();
+  bool search();
+  void poseToIndex(const geometry_msgs::Pose& pose, int* index_x, int* index_y, int* index_theta);
+  void pointToIndex(const geometry_msgs::Point& point, int* index_x, int* index_y);
+  bool isOutOfRange(int index_x, int index_y);
+  void setPath(const SimpleNode& goal);
+  bool setStartNode(const geometry_msgs::Pose& start_pose);
+  bool setGoalNode(const geometry_msgs::Pose& goal_pose);
+  bool isGoal(double x, double y, double theta);
+  bool isObs(int index_x, int index_y);
+  bool detectCollision(const SimpleNode& sn);
+  bool calcWaveFrontHeuristic(const SimpleNode& sn);
+  bool detectCollisionWaveFront(const WaveFrontNode& sn);
+
+  // ros param
+  ros::NodeHandle n_;
+
+  // base configs
+  bool use_back_;                 // backward search
+  bool use_potential_heuristic_;  // potential cost function
+  bool use_wavefront_heuristic_;  // wavefront cost function
+  double time_limit_;             // planning time limit [msec]
+
+  // robot configs (TODO: obtain from vehicle_info)
+  double robot_length_;           // X [m]
+  double robot_width_;            // Y [m]
+  double robot_base2back_;        // base_link to rear [m]
+  double minimum_turning_radius_; // [m]]
+
+  // search configs
+  int theta_size_;                  // descritized angle table size [-]
+  double curve_weight_;             // curve moving cost [-]
+  double reverse_weight_;           // backward moving cost [-]
+  double lateral_goal_range_;       // reaching threshold, lateral error [m]
+  double longitudinal_goal_range_;  // reaching threshold, longitudinal error [m]
+  double angle_goal_range_;         // reaching threshold, angle error [deg]
+
+  // costmap configs
+  int obstacle_threshold_;            // obstacle threshold on grid [-]
+  double potential_weight_;           // weight of potential cost [-]
+  double distance_heuristic_weight_;  // obstacle threshold on grid [0,255]
+
+  // hybrid astar variables
+  std::vector<std::vector<NodeUpdate>> state_update_table_;
+  std::vector<std::vector<std::vector<AstarNode>>> nodes_;
+  std::priority_queue<SimpleNode, std::vector<SimpleNode>, std::greater<SimpleNode>> openlist_;
+  std::vector<SimpleNode> goallist_;
+
+  // costmap as occupancy grid
+  nav_msgs::OccupancyGrid costmap_;
+
+  // pose in costmap frame
+  geometry_msgs::PoseStamped start_pose_local_;
+  geometry_msgs::PoseStamped goal_pose_local_;
+  double goal_yaw_;
+
+  // result path
+  nav_msgs::Path path_;
+};
+
+#endif
diff --git a/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/astar_util.h b/ros/src/computing/planning/common/lib/astar_search/include/astar_search/astar_util.h
similarity index 86%
rename from ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/astar_util.h
rename to ros/src/computing/planning/common/lib/astar_search/include/astar_search/astar_util.h
index 20b9eb40fd3..e9b3e343083 100644
--- a/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/astar_util.h
+++ b/ros/src/computing/planning/common/lib/astar_search/include/astar_search/astar_util.h
@@ -17,10 +17,8 @@
 #ifndef ASTAR_UTIL_H
 #define ASTAR_UTIL_H
 
-#include <tf/transform_listener.h>
+#include <tf/tf.h>
 
-namespace astar_planner
-{
 enum class STATUS : uint8_t
 {
   NONE,
@@ -37,7 +35,7 @@ struct AstarNode
   double hc = 0;                 // heuristic cost
   double move_distance = 0;      // actual move distance
   bool back;                     // true if the current direction of the vehicle is back
-  AstarNode *parent = NULL;      // parent node
+  AstarNode* parent = NULL;      // parent node
 };
 
 struct WaveFrontNode
@@ -69,7 +67,7 @@ struct SimpleNode
   int index_theta;
   double cost;
 
-  bool operator>(const SimpleNode &right) const
+  bool operator>(const SimpleNode& right) const
   {
     return cost > right.cost;
   }
@@ -85,15 +83,15 @@ inline double calcDistance(double x1, double y1, double x2, double y2)
 
 inline double modifyTheta(double theta)
 {
-  if (theta < 0)
-    return theta + 2 * M_PI;
-  if (theta >= 2 * M_PI)
-    return theta - 2 * M_PI;
+  if (theta < 0.0)
+    return theta + 2.0 * M_PI;
+  if (theta >= 2.0 * M_PI)
+    return theta - 2.0 * M_PI;
 
   return theta;
 }
 
-inline geometry_msgs::Pose transformPose(geometry_msgs::Pose &pose, tf::Transform &tf)
+inline geometry_msgs::Pose transformPose(const geometry_msgs::Pose& pose, const tf::Transform& tf)
 {
   // Convert ROS pose to TF pose
   tf::Pose tf_pose;
@@ -131,11 +129,11 @@ inline geometry_msgs::Point calcRelativeCoordinate(geometry_msgs::Pose pose, tf:
 
 inline double calcDiffOfRadian(double a, double b)
 {
-  double diff = std::fabs(a - b);
+  double diff = std::fmod(std::fabs(a - b), 2.0 * M_PI);
   if (diff < M_PI)
     return diff;
   else
-    return 2 * M_PI - diff;
+    return 2.0 * M_PI - diff;
 }
 
 inline geometry_msgs::Pose xytToPoseMsg(double x, double y, double theta)
@@ -148,6 +146,4 @@ inline geometry_msgs::Pose xytToPoseMsg(double x, double y, double theta)
   return p;
 }
 
-}  // namespace astar_planner
-
 #endif
diff --git a/ros/src/computing/planning/common/lib/astar_search/package.xml b/ros/src/computing/planning/common/lib/astar_search/package.xml
new file mode 100644
index 00000000000..9e881ca9e4b
--- /dev/null
+++ b/ros/src/computing/planning/common/lib/astar_search/package.xml
@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<package>
+  <name>astar_search</name>
+  <version>0.0.0</version>
+  <description>The astar_search package</description>
+
+  <maintainer email="aohsato@gmail.com">Akihito Ohsato</maintainer>
+
+  <license>BSD</license>
+
+  <author email="aohsato@gmail.com">Akihito Ohsato</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>autoware_build_flags</buildtool_depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>tf_conversions</build_depend>
+  <build_depend>pcl_ros</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>autoware_msgs</build_depend>
+
+  <run_depend>roscpp</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>tf_conversions</run_depend>
+  <run_depend>pcl_ros</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>autoware_msgs</run_depend>
+
+  <export>
+  </export>
+</package>
diff --git a/ros/src/computing/planning/common/lib/astar_search/src/astar_search.cpp b/ros/src/computing/planning/common/lib/astar_search/src/astar_search.cpp
new file mode 100644
index 00000000000..e2bd2041f7f
--- /dev/null
+++ b/ros/src/computing/planning/common/lib/astar_search/src/astar_search.cpp
@@ -0,0 +1,708 @@
+/*
+ * Copyright 2015-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "astar_search/astar_search.h"
+
+AstarSearch::AstarSearch()
+{
+  ros::NodeHandle private_nh_("~");
+
+  // base configs
+  private_nh_.param<bool>("use_back", use_back_, true);
+  private_nh_.param<bool>("use_potential_heuristic", use_potential_heuristic_, true);
+  private_nh_.param<bool>("use_wavefront_heuristic", use_wavefront_heuristic_, false);
+  private_nh_.param<double>("time_limit", time_limit_, 5000.0);
+
+  // robot configs
+  private_nh_.param<double>("robot_length", robot_length_, 4.5);
+  private_nh_.param<double>("robot_width", robot_width_, 1.75);
+  private_nh_.param<double>("robot_base2back", robot_base2back_, 1.0);
+  private_nh_.param<double>("minimum_turning_radius", minimum_turning_radius_, 6.0);
+
+  // search configs
+  private_nh_.param<int>("theta_size", theta_size_, 48);
+  private_nh_.param<double>("angle_goal_range", angle_goal_range_, 6.0);
+  private_nh_.param<double>("curve_weight", curve_weight_, 1.2);
+  private_nh_.param<double>("reverse_weight", reverse_weight_, 2.00);
+  private_nh_.param<double>("lateral_goal_range", lateral_goal_range_, 0.5);
+  private_nh_.param<double>("longitudinal_goal_range", longitudinal_goal_range_, 2.0);
+
+  // costmap configs
+  private_nh_.param<int>("obstacle_threshold", obstacle_threshold_, 100);
+  private_nh_.param<double>("potential_weight", potential_weight_, 10.0);
+  private_nh_.param<double>("distance_heuristic_weight", distance_heuristic_weight_, 1.0);
+
+  createStateUpdateTable();
+}
+
+AstarSearch::~AstarSearch()
+{
+}
+
+// state update table for hybrid astar
+void AstarSearch::createStateUpdateTable()
+{
+  // Vehicle moving for each angle
+  state_update_table_.resize(theta_size_);
+  double dtheta = 2.0 * M_PI / theta_size_;
+
+  // Minimum moving distance with one state update
+  //     arc  = r                       * theta
+  double step = minimum_turning_radius_ * dtheta;
+
+  for (int i = 0; i < theta_size_; i++)
+  {
+    double theta = dtheta * i;
+
+    // Calculate right and left circle
+    // Robot moves along these circles
+    double right_circle_center_x = minimum_turning_radius_ * std::sin(theta);
+    double right_circle_center_y = minimum_turning_radius_ * -std::cos(theta);
+    double left_circle_center_x = -right_circle_center_x;
+    double left_circle_center_y = -right_circle_center_y;
+
+    // Calculate x and y shift to next state
+    NodeUpdate nu;
+
+    // forward
+    nu.shift_x = step * std::cos(theta);
+    nu.shift_y = step * std::sin(theta);
+    nu.rotation = 0.0;
+    nu.index_theta = 0;
+    nu.step = step;
+    nu.curve = false;
+    nu.back = false;
+    state_update_table_[i].emplace_back(nu);
+
+    // forward right
+    nu.shift_x = right_circle_center_x + minimum_turning_radius_ * std::cos(M_PI_2 + theta - dtheta);
+    nu.shift_y = right_circle_center_y + minimum_turning_radius_ * std::sin(M_PI_2 + theta - dtheta);
+    nu.rotation = -dtheta;
+    nu.index_theta = -1;
+    nu.step = step;
+    nu.curve = true;
+    nu.back = false;
+    state_update_table_[i].emplace_back(nu);
+
+    // forward left
+    nu.shift_x = left_circle_center_x + minimum_turning_radius_ * std::cos(-M_PI_2 + theta + dtheta);
+    nu.shift_y = left_circle_center_y + minimum_turning_radius_ * std::sin(-M_PI_2 + theta + dtheta);
+    nu.rotation = dtheta;
+    nu.index_theta = 1;
+    nu.step = step;
+    nu.curve = true;
+    nu.back = false;
+    state_update_table_[i].emplace_back(nu);
+
+    if (use_back_)
+    {
+      // backward
+      nu.shift_x = step * std::cos(theta) * -1.0;
+      nu.shift_y = step * std::sin(theta) * -1.0;
+      nu.rotation = 0;
+      nu.index_theta = 0;
+      nu.step = step;
+      nu.curve = false;
+      nu.back = true;
+      state_update_table_[i].emplace_back(nu);
+
+      // backward right
+      nu.shift_x = right_circle_center_x + minimum_turning_radius_ * std::cos(M_PI_2 + theta + dtheta);
+      nu.shift_y = right_circle_center_y + minimum_turning_radius_ * std::sin(M_PI_2 + theta + dtheta);
+      nu.rotation = dtheta;
+      nu.index_theta = 1;
+      nu.step = step;
+      nu.curve = true;
+      nu.back = true;
+      state_update_table_[i].emplace_back(nu);
+
+      // backward left
+      nu.shift_x = left_circle_center_x + minimum_turning_radius_ * std::cos(-1.0 * M_PI_2 + theta - dtheta);
+      nu.shift_y = left_circle_center_y + minimum_turning_radius_ * std::sin(-1.0 * M_PI_2 + theta - dtheta);
+      nu.rotation = dtheta * -1.0;
+      nu.index_theta = -1;
+      nu.step = step;
+      nu.curve = true;
+      nu.back = true;
+      state_update_table_[i].emplace_back(nu);
+    }
+  }
+}
+
+void AstarSearch::initialize(const nav_msgs::OccupancyGrid& costmap)
+{
+  costmap_ = costmap;
+
+  int height = costmap_.info.height;
+  int width = costmap_.info.width;
+
+  // size initialization
+  nodes_.resize(height);
+  for (int i = 0; i < height; i++)
+  {
+    nodes_[i].resize(width);
+  }
+  for (int i = 0; i < height; i++)
+  {
+    for (int j = 0; j < width; j++)
+    {
+      nodes_[i][j].resize(theta_size_);
+    }
+  }
+
+  // cost initialization
+  for (int i = 0; i < height; i++)
+  {
+    for (int j = 0; j < width; j++)
+    {
+      // Index of subscribing OccupancyGrid message
+      int og_index = i * width + j;
+      int cost = costmap_.data[og_index];
+
+      // hc is set to be 0 when reset()
+      if (cost == 0)
+      {
+        continue;
+      }
+
+      // obstacle or unknown area
+      if (cost < 0 || obstacle_threshold_ <= cost)
+      {
+        nodes_[i][j][0].status = STATUS::OBS;
+      }
+
+      // the cost more than threshold is regarded almost same as an obstacle
+      // because of its very high cost
+      if (use_potential_heuristic_)
+      {
+        nodes_[i][j][0].hc = cost * potential_weight_;
+      }
+    }
+  }
+}
+
+bool AstarSearch::makePlan(const geometry_msgs::Pose& start_pose, const geometry_msgs::Pose& goal_pose)
+{
+  if (!setStartNode(start_pose))
+  {
+    // ROS_WARN_STREAM("Invalid start pose");
+    return false;
+  }
+
+  if (!setGoalNode(goal_pose))
+  {
+    // ROS_WARN_STREAM("Invalid goal pose");
+    return false;
+  }
+
+  return search();
+}
+
+bool AstarSearch::setStartNode(const geometry_msgs::Pose& start_pose)
+{
+  // Get index of start pose
+  int index_x, index_y, index_theta;
+  start_pose_local_.pose = start_pose;
+  poseToIndex(start_pose_local_.pose, &index_x, &index_y, &index_theta);
+  SimpleNode start_sn(index_x, index_y, index_theta, 0, 0);
+
+  // Check if start is valid
+  if (isOutOfRange(index_x, index_y) || detectCollision(start_sn))
+  {
+    return false;
+  }
+
+  // Set start node
+  AstarNode& start_node = nodes_[index_y][index_x][index_theta];
+  start_node.x = start_pose_local_.pose.position.x;
+  start_node.y = start_pose_local_.pose.position.y;
+  start_node.theta = 2.0 * M_PI / theta_size_ * index_theta;
+  start_node.gc = 0;
+  start_node.move_distance = 0;
+  start_node.back = false;
+  start_node.status = STATUS::OPEN;
+  start_node.parent = NULL;
+
+  // set euclidean distance heuristic cost
+  if (!use_wavefront_heuristic_ && !use_potential_heuristic_)
+  {
+    start_node.hc = calcDistance(start_pose_local_.pose.position.x, start_pose_local_.pose.position.y,
+                                 goal_pose_local_.pose.position.x, goal_pose_local_.pose.position.y) *
+                    distance_heuristic_weight_;
+  }
+  else if (use_potential_heuristic_)
+  {
+    start_node.gc += start_node.hc;
+    start_node.hc += calcDistance(start_pose_local_.pose.position.x, start_pose_local_.pose.position.y,
+                                  goal_pose_local_.pose.position.x, goal_pose_local_.pose.position.y) +
+                     distance_heuristic_weight_;
+  }
+
+  // Push start node to openlist
+  start_sn.cost = start_node.gc + start_node.hc;
+  openlist_.push(start_sn);
+
+  return true;
+}
+
+bool AstarSearch::setGoalNode(const geometry_msgs::Pose& goal_pose)
+{
+  goal_pose_local_.pose = goal_pose;
+  goal_yaw_ = modifyTheta(tf::getYaw(goal_pose_local_.pose.orientation));
+
+  // Get index of goal pose
+  int index_x, index_y, index_theta;
+  poseToIndex(goal_pose_local_.pose, &index_x, &index_y, &index_theta);
+  SimpleNode goal_sn(index_x, index_y, index_theta, 0, 0);
+
+  // Check if goal is valid
+  if (isOutOfRange(index_x, index_y) || detectCollision(goal_sn))
+  {
+    return false;
+  }
+
+  // Calculate wavefront heuristic cost
+  if (use_wavefront_heuristic_)
+  {
+    // auto start = std::chrono::system_clock::now();
+    bool wavefront_result = calcWaveFrontHeuristic(goal_sn);
+    // auto end = std::chrono::system_clock::now();
+    // auto usec = std::chrono::duration_cast<std::chrono::microseconds>(end - start).count();
+    // std::cout << "wavefront : " << usec / 1000.0 << "[msec]" << std::endl;
+
+    if (!wavefront_result)
+    {
+      // ROS_WARN("Reachable is false...");
+      return false;
+    }
+  }
+
+  return true;
+}
+
+void AstarSearch::poseToIndex(const geometry_msgs::Pose& pose, int* index_x, int* index_y, int* index_theta)
+{
+  tf::Transform orig_tf;
+  tf::poseMsgToTF(costmap_.info.origin, orig_tf);
+  geometry_msgs::Pose pose2d = transformPose(pose, orig_tf.inverse());
+
+  *index_x = pose2d.position.x / costmap_.info.resolution;
+  *index_y = pose2d.position.y / costmap_.info.resolution;
+
+  tf::Quaternion quat;
+  tf::quaternionMsgToTF(pose2d.orientation, quat);
+  double yaw = tf::getYaw(quat);
+  if (yaw < 0)
+    yaw += 2.0 * M_PI;
+
+  // Descretize angle
+  static double one_angle_range = 2.0 * M_PI / theta_size_;
+  *index_theta = yaw / one_angle_range;
+  *index_theta %= theta_size_;
+}
+
+void AstarSearch::pointToIndex(const geometry_msgs::Point& point, int* index_x, int* index_y)
+{
+  geometry_msgs::Pose pose;
+  pose.position = point;
+  int index_theta;
+  poseToIndex(pose, index_x, index_y, &index_theta);
+}
+
+bool AstarSearch::isOutOfRange(int index_x, int index_y)
+{
+  if (index_x < 0 || index_x >= static_cast<int>(costmap_.info.width) || index_y < 0 ||
+      index_y >= static_cast<int>(costmap_.info.height))
+  {
+    return true;
+  }
+  return false;
+}
+
+bool AstarSearch::search()
+{
+  ros::WallTime begin = ros::WallTime::now();
+
+  // Start A* search
+  // If the openlist is empty, search failed
+  while (!openlist_.empty())
+  {
+    // Check time and terminate if the search reaches the time limit
+    ros::WallTime now = ros::WallTime::now();
+    double msec = (now - begin).toSec() * 1000.0;
+    if (msec > time_limit_)
+    {
+      // ROS_WARN("Exceed time limit of %lf [ms]", time_limit_);
+      return false;
+    }
+
+    // Pop minimum cost node from openlist
+    SimpleNode top_sn = openlist_.top();
+    openlist_.pop();
+
+    // Expand nodes from this node
+    AstarNode* current_an = &nodes_[top_sn.index_y][top_sn.index_x][top_sn.index_theta];
+    current_an->status = STATUS::CLOSED;
+
+    // Goal check
+    if (isGoal(current_an->x, current_an->y, current_an->theta))
+    {
+      // ROS_INFO("Search time: %lf [msec]", (now - begin).toSec() * 1000.0);
+      setPath(top_sn);
+      return true;
+    }
+
+    // Expand nodes
+    for (const auto& state : state_update_table_[top_sn.index_theta])
+    {
+      // Next state
+      double next_x = current_an->x + state.shift_x;
+      double next_y = current_an->y + state.shift_y;
+      double next_theta = modifyTheta(current_an->theta + state.rotation);
+      double move_cost = state.step;
+      double move_distance = current_an->move_distance + state.step;
+
+      // Increase reverse cost
+      if (state.back != current_an->back)
+        move_cost *= reverse_weight_;
+
+      // Calculate index of the next state
+      SimpleNode next_sn;
+      geometry_msgs::Point next_pos;
+      next_pos.x = next_x;
+      next_pos.y = next_y;
+      pointToIndex(next_pos, &next_sn.index_x, &next_sn.index_y);
+      next_sn.index_theta = top_sn.index_theta + state.index_theta;
+
+      // Avoid invalid index
+      next_sn.index_theta = (next_sn.index_theta + theta_size_) % theta_size_;
+
+      // Check if the index is valid
+      if (isOutOfRange(next_sn.index_x, next_sn.index_y) || detectCollision(next_sn))
+      {
+        continue;
+      }
+
+      AstarNode* next_an = &nodes_[next_sn.index_y][next_sn.index_x][next_sn.index_theta];
+      double next_gc = current_an->gc + move_cost;
+      double next_hc = nodes_[next_sn.index_y][next_sn.index_x][0].hc;  // wavefront or distance transform heuristic
+
+      // increase the cost with euclidean distance
+      if (use_potential_heuristic_)
+      {
+        next_gc += nodes_[next_sn.index_y][next_sn.index_x][0].hc;
+        next_hc += calcDistance(next_x, next_y, goal_pose_local_.pose.position.x, goal_pose_local_.pose.position.y) *
+                   distance_heuristic_weight_;
+      }
+
+      // increase the cost with euclidean distance
+      if (!use_wavefront_heuristic_ && !use_potential_heuristic_)
+      {
+        next_hc = calcDistance(next_x, next_y, goal_pose_local_.pose.position.x, goal_pose_local_.pose.position.y) *
+                  distance_heuristic_weight_;
+      }
+
+      // NONE
+      if (next_an->status == STATUS::NONE)
+      {
+        next_an->status = STATUS::OPEN;
+        next_an->x = next_x;
+        next_an->y = next_y;
+        next_an->theta = next_theta;
+        next_an->gc = next_gc;
+        next_an->hc = next_hc;
+        next_an->move_distance = move_distance;
+        next_an->back = state.back;
+        next_an->parent = current_an;
+        next_sn.cost = next_an->gc + next_an->hc;
+        openlist_.push(next_sn);
+        continue;
+      }
+
+      // OPEN or CLOSED
+      if (next_an->status == STATUS::OPEN || next_an->status == STATUS::CLOSED)
+      {
+        if (next_gc < next_an->gc)
+        {
+          next_an->status = STATUS::OPEN;
+          next_an->x = next_x;
+          next_an->y = next_y;
+          next_an->theta = next_theta;
+          next_an->gc = next_gc;
+          next_an->hc = next_hc;  // already calculated ?
+          next_an->move_distance = move_distance;
+          next_an->back = state.back;
+          next_an->parent = current_an;
+          next_sn.cost = next_an->gc + next_an->hc;
+          openlist_.push(next_sn);
+          continue;
+        }
+      }
+    }  // state update
+  }
+
+  // Failed to find path
+  // ROS_INFO("Open list is empty...");
+  return false;
+}
+
+void AstarSearch::setPath(const SimpleNode& goal)
+{
+  std_msgs::Header header;
+  header.stamp = ros::Time::now();
+  header.frame_id = costmap_.header.frame_id;
+  path_.header = header;
+
+  // From the goal node to the start node
+  AstarNode* node = &nodes_[goal.index_y][goal.index_x][goal.index_theta];
+
+  while (node != NULL)
+  {
+    // Set tf pose
+    tf::Vector3 origin(node->x, node->y, 0);
+    tf::Pose tf_pose;
+    tf_pose.setOrigin(origin);
+    tf_pose.setRotation(tf::createQuaternionFromYaw(node->theta));
+
+    // Set path as ros message
+    geometry_msgs::PoseStamped ros_pose;
+    tf::poseTFToMsg(tf_pose, ros_pose.pose);
+    ros_pose.header = header;
+    path_.poses.push_back(ros_pose);
+
+    // To the next node
+    node = node->parent;
+  }
+
+  // Reverse the vector to be start to goal order
+  std::reverse(path_.poses.begin(), path_.poses.end());
+}
+
+// Check if the next state is the goal
+// Check lateral offset, longitudinal offset and angle
+bool AstarSearch::isGoal(double x, double y, double theta)
+{
+  // To reduce computation time, we use square value for distance
+  static const double lateral_goal_range =
+      lateral_goal_range_ / 2.0;  // [meter], divide by 2 means we check left and right
+  static const double longitudinal_goal_range =
+      longitudinal_goal_range_ / 2.0;                                         // [meter], check only behind of the goal
+  static const double goal_angle = M_PI * (angle_goal_range_ / 2.0) / 180.0;  // degrees -> radian
+
+  // Calculate the node coordinate seen from the goal point
+  tf::Point p(x, y, 0);
+  geometry_msgs::Point relative_node_point = calcRelativeCoordinate(goal_pose_local_.pose, p);
+
+  // Check Pose of goal
+  if (relative_node_point.x < 0 &&  // shoud be behind of goal
+      std::fabs(relative_node_point.x) < longitudinal_goal_range &&
+      std::fabs(relative_node_point.y) < lateral_goal_range)
+  {
+    // Check the orientation of goal
+    if (calcDiffOfRadian(goal_yaw_, theta) < goal_angle)
+    {
+      return true;
+    }
+  }
+
+  return false;
+}
+
+bool AstarSearch::isObs(int index_x, int index_y)
+{
+  if (nodes_[index_y][index_x][0].status == STATUS::OBS)
+  {
+    return true;
+  }
+
+  return false;
+}
+
+bool AstarSearch::detectCollision(const SimpleNode& sn)
+{
+  // Define the robot as rectangle
+  static double left = -1.0 * robot_base2back_;
+  static double right = robot_length_ - robot_base2back_;
+  static double top = robot_width_ / 2.0;
+  static double bottom = -1.0 * robot_width_ / 2.0;
+  static double resolution = costmap_.info.resolution;
+
+  // Coordinate of base_link in OccupancyGrid frame
+  static double one_angle_range = 2.0 * M_PI / theta_size_;
+  double base_x = sn.index_x * resolution;
+  double base_y = sn.index_y * resolution;
+  double base_theta = sn.index_theta * one_angle_range;
+
+  // Calculate cos and sin in advance
+  double cos_theta = std::cos(base_theta);
+  double sin_theta = std::sin(base_theta);
+
+  // Convert each point to index and check if the node is Obstacle
+  for (double x = left; x < right; x += resolution)
+  {
+    for (double y = top; y > bottom; y -= resolution)
+    {
+      // 2D point rotation
+      int index_x = (x * cos_theta - y * sin_theta + base_x) / resolution;
+      int index_y = (x * sin_theta + y * cos_theta + base_y) / resolution;
+
+      if (isOutOfRange(index_x, index_y))
+      {
+        return true;
+      }
+      else if (nodes_[index_y][index_x][0].status == STATUS::OBS)
+      {
+        return true;
+      }
+    }
+  }
+
+  return false;
+}
+
+bool AstarSearch::calcWaveFrontHeuristic(const SimpleNode& sn)
+{
+  // Set start point for wavefront search
+  // This is goal for Astar search
+  nodes_[sn.index_y][sn.index_x][0].hc = 0;
+  WaveFrontNode wf_node(sn.index_x, sn.index_y, 1e-10);
+  std::queue<WaveFrontNode> qu;
+  qu.push(wf_node);
+
+  // State update table for wavefront search
+  // Nodes are expanded for each neighborhood cells (moore neighborhood)
+  double resolution = costmap_.info.resolution;
+  static std::vector<WaveFrontNode> updates = {
+    getWaveFrontNode(0, 1, resolution),
+    getWaveFrontNode(-1, 0, resolution),
+    getWaveFrontNode(1, 0, resolution),
+    getWaveFrontNode(0, -1, resolution),
+    getWaveFrontNode(-1, 1, std::hypot(resolution, resolution)),
+    getWaveFrontNode(1, 1, std::hypot(resolution, resolution)),
+    getWaveFrontNode(-1, -1, std::hypot(resolution, resolution)),
+    getWaveFrontNode(1, -1, std::hypot(resolution, resolution)),
+  };
+
+  // Get start index
+  int start_index_x;
+  int start_index_y;
+  int start_index_theta;
+  poseToIndex(start_pose_local_.pose, &start_index_x, &start_index_y, &start_index_theta);
+
+  // Whether the robot can reach goal
+  bool reachable = false;
+
+  // Start wavefront search
+  while (!qu.empty())
+  {
+    WaveFrontNode ref = qu.front();
+    qu.pop();
+
+    WaveFrontNode next;
+    for (const auto& u : updates)
+    {
+      next.index_x = ref.index_x + u.index_x;
+      next.index_y = ref.index_y + u.index_y;
+
+      // out of range OR already visited OR obstacle node
+      if (isOutOfRange(next.index_x, next.index_y) || nodes_[next.index_y][next.index_x][0].hc > 0 ||
+          nodes_[next.index_y][next.index_x][0].status == STATUS::OBS)
+      {
+        continue;
+      }
+
+      // Take the size of robot into account
+      if (detectCollisionWaveFront(next))
+      {
+        continue;
+      }
+
+      // Check if we can reach from start to goal
+      if (next.index_x == start_index_x && next.index_y == start_index_y)
+      {
+        reachable = true;
+      }
+
+      // Set wavefront heuristic cost
+      next.hc = ref.hc + u.hc;
+      nodes_[next.index_y][next.index_x][0].hc = next.hc;
+
+      qu.push(next);
+    }
+  }
+
+  // End of search
+  return reachable;
+}
+
+// Simple collidion detection for wavefront search
+bool AstarSearch::detectCollisionWaveFront(const WaveFrontNode& ref)
+{
+  // Define the robot as square
+  static double half = robot_width_ / 2;
+  double robot_x = ref.index_x * costmap_.info.resolution;
+  double robot_y = ref.index_y * costmap_.info.resolution;
+
+  for (double y = half; y > -1.0 * half; y -= costmap_.info.resolution)
+  {
+    for (double x = -1.0 * half; x < half; x += costmap_.info.resolution)
+    {
+      int index_x = (robot_x + x) / costmap_.info.resolution;
+      int index_y = (robot_y + y) / costmap_.info.resolution;
+
+      if (isOutOfRange(index_x, index_y))
+      {
+        return true;
+      }
+
+      if (nodes_[index_y][index_x][0].status == STATUS::OBS)
+      {
+        return true;
+      }
+    }
+  }
+
+  return false;
+}
+
+void AstarSearch::reset()
+{
+  path_.poses.clear();
+
+  // Clear queue
+  std::priority_queue<SimpleNode, std::vector<SimpleNode>, std::greater<SimpleNode>> empty;
+  std::swap(openlist_, empty);
+
+  // ros::WallTime begin = ros::WallTime::now();
+
+  // Reset node info here ...?
+  for (size_t i = 0; i < costmap_.info.height; i++)
+  {
+    for (size_t j = 0; j < costmap_.info.width; j++)
+    {
+      for (int k = 0; k < theta_size_; k++)
+      {
+        // other values will be updated during the search
+        nodes_[i][j][k].status = STATUS::NONE;
+        nodes_[i][j][k].hc = 0;
+      }
+    }
+  }
+
+  // ros::WallTime end = ros::WallTime::now();
+
+  // ROS_INFO("Reset time: %lf [ms]", (end - begin).toSec() * 1000);
+}
diff --git a/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/astar_util.cpp b/ros/src/computing/planning/common/lib/astar_search/src/astar_util.cpp
similarity index 82%
rename from ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/astar_util.cpp
rename to ros/src/computing/planning/common/lib/astar_search/src/astar_util.cpp
index f5454b2d9da..064a9ee7a52 100644
--- a/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/astar_util.cpp
+++ b/ros/src/computing/planning/common/lib/astar_search/src/astar_util.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright 2015-2019 Autoware Foundation. All rights reserved.
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -14,11 +14,9 @@
  * limitations under the License.
  */
 
-#include "astar_util.h"
+#include "astar_search/astar_util.h"
 
-namespace astar_planner
-{
-WaveFrontNode::WaveFrontNode()
+WaveFrontNode::WaveFrontNode() : index_x(0), index_y(0), hc(0)
 {
 }
 
@@ -34,5 +32,3 @@ SimpleNode::SimpleNode(int x, int y, int theta, double gc, double hc)
   : index_x(x), index_y(y), index_theta(theta), cost(gc + hc)
 {
 }
-
-}  // namespace astar_planner
diff --git a/ros/src/computing/planning/common/lib/astar_search/test/src/test_astar_search.cpp b/ros/src/computing/planning/common/lib/astar_search/test/src/test_astar_search.cpp
new file mode 100644
index 00000000000..2ab622158a1
--- /dev/null
+++ b/ros/src/computing/planning/common/lib/astar_search/test/src/test_astar_search.cpp
@@ -0,0 +1,169 @@
+/*
+ * Copyright 2018 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <ros/ros.h>
+#include <gtest/gtest.h>
+
+#include "astar_search/astar_search.h"
+
+#include "test_class.h"
+
+TEST_F(TestSuite, checkPoseAndPoint_ToIndex)
+{
+  //Check poseToIndex
+
+  // start_pose is located at the center of the grid
+  test_obj_.poseToIndex(start_pose_, &index_x, &index_y, &index_theta);
+  ASSERT_EQ(index_x, test_obj_.costmap_.info.width/2) << "start_pose.index_x should be " << test_obj_.costmap_.info.width/2;
+  ASSERT_EQ(index_y, test_obj_.costmap_.info.height/2) << "start_pose.index_y should be " << test_obj_.costmap_.info.height/2;
+  ASSERT_EQ(index_theta, 0) << "start_pose.index_theta should be " << 0;
+
+  // goal_pose is 10 cells to the right from start_pose
+  test_obj_.poseToIndex(goal_pose_, &index_x, &index_y, &index_theta);
+  ASSERT_EQ(index_x, test_obj_.costmap_.info.width/2+10) << "goal_pose.index_x should be " << test_obj_.costmap_.info.width/2+10;
+  ASSERT_EQ(index_y, test_obj_.costmap_.info.height/2) << "goal_pose.index_y should be " << test_obj_.costmap_.info.height/2;
+  ASSERT_EQ(index_theta, 0) << "goal_pose.index_theta should be " << 0;
+
+  //Check pointToIndex
+  geometry_msgs::Point test_point;
+
+  test_point.x = start_pose_.position.x;
+  test_point.y = start_pose_.position.y;
+  test_point.z = start_pose_.position.z;
+
+  test_obj_.pointToIndex(test_point, &index_x, &index_y);
+  ASSERT_EQ(index_x, test_obj_.costmap_.info.width/2) << "start_point.index_x should be " << test_obj_.costmap_.info.width/2;
+  ASSERT_EQ(index_y, test_obj_.costmap_.info.height/2) << "start_point.index_y should be " << test_obj_.costmap_.info.height/2;
+
+  test_point.x = goal_pose_.position.x;
+  test_point.y = goal_pose_.position.y;
+  test_point.z = goal_pose_.position.z;
+
+  test_obj_.pointToIndex(test_point, &index_x, &index_y);
+  ASSERT_EQ(index_x, test_obj_.costmap_.info.width/2+10) << "goal_pose.index_x should be " << test_obj_.costmap_.info.width/2+10;
+  ASSERT_EQ(index_y, test_obj_.costmap_.info.height/2) << "goal_pose.index_y should be " << test_obj_.costmap_.info.height/2;
+}
+
+TEST_F(TestSuite, checkIsOutOfRange)
+{
+
+  // Check that the indexes are out and within range
+  index_x = test_obj_.costmap_.info.width/2;
+  index_y = test_obj_.costmap_.info.height/2;
+  ASSERT_FALSE(test_obj_.isOutOfRange(index_x, index_y)) << "[index_x,index_y] : [" << index_x << "," << index_y << "] Should be outOfRange";
+
+  // Check that the indexes are out and within range
+  index_x = test_obj_.costmap_.info.width + 1;
+  index_y = test_obj_.costmap_.info.height + 1;
+  ASSERT_TRUE(test_obj_.isOutOfRange(index_x, index_y)) << "[index_x,index_y] : [" << index_x << "," << index_y << "] Should be outOfRange";
+
+  index_x = -1;
+  index_y = -1;
+  ASSERT_TRUE(test_obj_.isOutOfRange(index_x, index_y)) << "[index_x,index_y] : [" << index_x << "," << index_y << "] Should be outOfRange";
+}
+
+TEST_F(TestSuite, checkSetNodes)
+{
+
+  // start_pose_ within range
+  ASSERT_TRUE(test_obj_.setStartNode(start_pose_)) << "Should be true";
+  // start_pose_ out of range
+  start_pose_.position.x = (test_obj_.costmap_.info.width + 10)*test_obj_.costmap_.info.resolution;
+  ASSERT_FALSE(test_obj_.setStartNode(start_pose_)) << "Should be false";
+
+  // goal_pose_ out of range
+  ASSERT_FALSE(test_obj_.setGoalNode(start_pose_)) << "Should be false";
+  // goal_pose_ within range
+  ASSERT_TRUE(test_obj_.setGoalNode(goal_pose_)) << "Should be true";
+
+  // Check isGoal
+  ASSERT_TRUE(test_obj_.isGoal(goal_pose_.position.x - 0.1, goal_pose_.position.y, 0)) << "Goal should be goal";
+  ASSERT_FALSE(test_obj_.isGoal(goal_pose_.position.x - 1, goal_pose_.position.y, 0)) << "Should NOT be goal";
+
+}
+
+TEST_F(TestSuite, checkIsObs)
+{
+
+  // Initialise costmap
+  test_obj_.astar_search_obj.initialize(test_obj_.costmap_);
+
+  ASSERT_TRUE(test_obj_.isObs(test_obj_.obstacle_indexes_[0].first, test_obj_.obstacle_indexes_[0].second)) << "[index_x,index_y] : [" << test_obj_.obstacle_indexes_[0].first << "," << test_obj_.obstacle_indexes_[0].second<< "] Should be obstacle";
+  ASSERT_FALSE(test_obj_.isObs(1,1)) << "[index_x,index_y] : [" << 1 << "," << 1 << "] Should NOT be obstacle";
+
+}
+
+TEST_F(TestSuite, checkDetectCollision)
+{
+
+  // Node at start_pose_
+  index_x = test_obj_.costmap_.info.width/2;
+  index_y = test_obj_.costmap_.info.height/2;
+  index_theta = 0;
+  SimpleNode start_sn(index_x, index_y, index_theta, 0, 0);
+  ASSERT_FALSE(test_obj_.detectCollision(start_sn)) << "start_pose_ node should not collide";
+
+  // Node just before obstacle
+  index_x = test_obj_.obstacle_indexes_[0].first - 1;
+  index_y = test_obj_.obstacle_indexes_[0].second;
+  index_theta = 0;
+  SimpleNode obs_sn(index_x, index_y, index_theta, 0, 0);
+  ASSERT_TRUE(test_obj_.detectCollision(obs_sn)) << "node before obstacle should collide";
+
+}
+
+TEST_F(TestSuite, checkSetPath)
+{
+
+  test_obj_.astar_search_obj.initialize(test_obj_.costmap_);
+  test_obj_.setStartNode(start_pose_);
+  test_obj_.setGoalNode(goal_pose_);
+
+  ASSERT_TRUE(test_obj_.search());
+  ASSERT_FALSE(test_obj_.astar_search_obj.getPath().poses.empty()) << "path should not be empty";
+
+  test_obj_.astar_search_obj.reset();
+  ASSERT_TRUE(test_obj_.astar_search_obj.getPath().poses.empty()) << "path should be empty after reset";
+
+  // Block goal with obstacle
+  int cnt = 0;
+  for (int row = 0; row < test_obj_.costmap_.info.height; ++row)
+  {
+    for (int col = 0; col < test_obj_.costmap_.info.width; ++col)
+    {
+      for (std::vector<std::pair<int, int>>::iterator it = test_obj_.obstacle_indexes_.begin(); it != test_obj_.obstacle_indexes_.end(); it++)
+      {
+        if (col == it->first && row == it->second)
+        {
+          test_obj_.costmap_.data.at(cnt) = 100;
+        }
+      }
+      cnt++;
+    }
+  }
+
+  test_obj_.astar_search_obj.initialize(test_obj_.costmap_);
+  test_obj_.setStartNode(start_pose_);
+  test_obj_.setGoalNode(goal_pose_);
+  ASSERT_FALSE(test_obj_.search());
+  ASSERT_TRUE(test_obj_.astar_search_obj.getPath().poses.empty()) << "path should be empty after reset";
+}
+
+TEST_F(TestSuite, checkMakePlan)
+{
+  test_obj_.astar_search_obj.initialize(test_obj_.costmap_);
+  ASSERT_TRUE(test_obj_.astar_search_obj.makePlan(start_pose_, goal_pose_)) << "makePlan should return True";
+}
diff --git a/ros/src/computing/planning/common/lib/astar_search/test/src/test_astar_util.cpp b/ros/src/computing/planning/common/lib/astar_search/test/src/test_astar_util.cpp
new file mode 100644
index 00000000000..824e19a3bee
--- /dev/null
+++ b/ros/src/computing/planning/common/lib/astar_search/test/src/test_astar_util.cpp
@@ -0,0 +1,160 @@
+/*
+ * Copyright 2018 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <ros/ros.h>
+#include <gtest/gtest.h>
+
+#include "astar_search/astar_util.h"
+
+#include "test_class.h"
+
+//class TestSuite2: public ::testing::Test {
+//public:
+//	TestSuite2(){}
+//	~TestSuite2(){}
+//};
+
+TEST_F(TestSuite, CheckGreaterThanOperator){
+
+	int x = 0;
+	int y = 0;
+	int theta = 0;
+	double gc = 0;
+	double hc = 10;
+
+	SimpleNode simple_node1;
+	SimpleNode simple_node2(x, y, theta, gc, hc);
+
+	ASSERT_TRUE(simple_node2 > simple_node1) << "Should be true";
+	ASSERT_TRUE(!(simple_node1 > simple_node2)) << "Should be false";
+}
+
+TEST_F(TestSuite, CalculateDistanceBetween2Points){
+	// Point 1
+	double x1 = 0.0;
+	double y1 = 0.0;
+	// Point 2
+	double x2 = 3.0;
+	double y2 = 4.0;
+	ASSERT_EQ(calcDistance(x1, y1, x2, y2), sqrt(x2*x2 + y2*y2)) << "Distance should be " << sqrt(x2*x2 + y2*y2);
+}
+
+TEST_F(TestSuite, CheckThetaWrapAround){
+	double theta = -90; //Degrees
+	double theta_new = (theta+360)*M_PI/180;
+	ASSERT_DOUBLE_EQ(modifyTheta(theta*M_PI/180), theta_new) << "Angle should be " << theta_new;
+
+	theta = 400;
+	theta_new = (theta-360)*M_PI/180;
+	ASSERT_DOUBLE_EQ(modifyTheta(theta*M_PI/180), theta_new) << "Angle should be " << theta_new;
+
+	theta = 60;
+	theta_new = theta*M_PI/180;
+	ASSERT_DOUBLE_EQ(modifyTheta(theta*M_PI/180), theta_new) << "Angle should be " << theta_new;
+}
+
+TEST_F(TestSuite, CheckTransformPose){
+
+	// Check translation of 1 along X axis
+	tf::Quaternion q(0,0,0,1);
+	tf::Vector3 v(1,0,0);
+	geometry_msgs::Pose in_pose, out_pose, expected_pose;
+
+	in_pose.position.x = 0;
+	in_pose.position.y = 0;
+	in_pose.position.z = 0;
+	in_pose.orientation.x = 0;
+	in_pose.orientation.y = 0;
+	in_pose.orientation.z = 0;
+	in_pose.orientation.w = 1;
+	expected_pose.position.x = 1;
+	expected_pose.position.y = 0;
+	expected_pose.position.z = 0;
+	expected_pose.orientation.x = 0;
+	expected_pose.orientation.y = 0;
+	expected_pose.orientation.z = 0;
+	expected_pose.orientation.w = 1;
+	tf::Transform translation(q, v);
+
+	out_pose = transformPose(in_pose, translation);
+
+	ASSERT_DOUBLE_EQ(out_pose.position.x, expected_pose.position.x) << "X Coordinate should be " << expected_pose.position.x;
+	ASSERT_DOUBLE_EQ(out_pose.position.y, expected_pose.position.y) << "Y Coordinate should be " << expected_pose.position.y;
+	ASSERT_DOUBLE_EQ(out_pose.position.z, expected_pose.position.z) << "Z Coordinate should be " << expected_pose.position.z;
+	ASSERT_DOUBLE_EQ(out_pose.orientation.x, expected_pose.orientation.x) << "X Quaternion should be " << expected_pose.orientation.x;
+	ASSERT_DOUBLE_EQ(out_pose.orientation.y, expected_pose.orientation.y) << "Y Quaternion should be " << expected_pose.orientation.y;
+	ASSERT_DOUBLE_EQ(out_pose.orientation.z, expected_pose.orientation.z) << "Z Quaternion should be " << expected_pose.orientation.z;
+	ASSERT_DOUBLE_EQ(out_pose.orientation.w, expected_pose.orientation.w) << "W Quaternion should be " << expected_pose.orientation.w;
+
+}
+
+TEST_F(TestSuite, CheckWaveFrontNodeConstruct){
+
+	WaveFrontNode node;
+	ASSERT_EQ(node.index_x, 0) << "index_x should be " << 0;
+	ASSERT_EQ(node.index_y, 0) << "index_y should be " << 0;
+	ASSERT_EQ(node.hc, 0) << "hc should be " << 0;
+
+	int x = 0;
+	int y = 0;
+	double cost = 10;
+	node = getWaveFrontNode(x, y, cost);
+	ASSERT_EQ(node.index_x, x) << "index_x should be " << x;
+	ASSERT_EQ(node.index_y, y) << "index_y should be " << y;
+	ASSERT_EQ(node.hc, cost) << "hc should be " << cost;
+}
+
+TEST_F(TestSuite, CheckRelativeCoordinate){
+
+	geometry_msgs::Pose in_pose;
+	in_pose.position.x = 1;
+	in_pose.position.y = -4;
+	in_pose.position.z = 8;
+	in_pose.orientation.x = 0;
+	in_pose.orientation.y = 0;
+	in_pose.orientation.z = 0;
+	in_pose.orientation.w = 1;
+
+	tf::Point point = tf::Point(0,0,0);
+
+	geometry_msgs::Point relative_point = calcRelativeCoordinate(in_pose, point);
+	geometry_msgs::Point expected_point;
+	expected_point.x = -in_pose.position.x;
+	expected_point.y = -in_pose.position.y;
+	expected_point.z = -in_pose.position.z;
+
+	ASSERT_EQ(relative_point.x, expected_point.x) << "X coord should be " << expected_point.x;
+	ASSERT_EQ(relative_point.y, expected_point.y) << "Y coord should be " << expected_point.y;
+	ASSERT_EQ(relative_point.z, expected_point.z) << "Z coord should be " << expected_point.z;
+}
+
+TEST_F(TestSuite, CheckRadianDifference){
+
+	// Diff < 180 degrees
+	double a = 0*M_PI/180;
+	double b = 90*M_PI/180;
+	ASSERT_DOUBLE_EQ(calcDiffOfRadian(a, b), 90*M_PI/180) << "diff should be " << 90*M_PI/180;
+
+	// 180 degrees < Diff < 360 degrees
+	a = 0*M_PI/180;
+	b = 190*M_PI/180;
+	ASSERT_DOUBLE_EQ(calcDiffOfRadian(a, b), 170*M_PI/180) << "diff should be " << 170*M_PI/180;
+
+	// Diff > 360 degrees
+	a = 0*M_PI/180;
+	b = 400*M_PI/180;
+	ASSERT_DOUBLE_EQ(calcDiffOfRadian(a, b), 40*M_PI/180) << "diff should be " << 40*M_PI/180;
+}
diff --git a/ros/src/computing/planning/common/lib/astar_search/test/src/test_class.cpp b/ros/src/computing/planning/common/lib/astar_search/test/src/test_class.cpp
new file mode 100644
index 00000000000..23dcb4fe3ab
--- /dev/null
+++ b/ros/src/computing/planning/common/lib/astar_search/test/src/test_class.cpp
@@ -0,0 +1,130 @@
+/*
+ * Copyright 2018 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "test_class.h"
+
+TestClass::TestClass()
+{
+
+  obstacle_indexes_.push_back(std::make_pair(0,0));
+
+  obstacle_indexes_.push_back(std::make_pair(24,0));
+  obstacle_indexes_.push_back(std::make_pair(24,1));
+  obstacle_indexes_.push_back(std::make_pair(24,2));
+  obstacle_indexes_.push_back(std::make_pair(24,3));
+  obstacle_indexes_.push_back(std::make_pair(24,4));
+  obstacle_indexes_.push_back(std::make_pair(24,5));
+  obstacle_indexes_.push_back(std::make_pair(24,6));
+  obstacle_indexes_.push_back(std::make_pair(24,7));
+  obstacle_indexes_.push_back(std::make_pair(24,8));
+  obstacle_indexes_.push_back(std::make_pair(24,9));
+  obstacle_indexes_.push_back(std::make_pair(24,10));
+
+  costmap_.header.seq = 1;
+  costmap_.header.stamp = ros::Time::now();
+  costmap_.header.frame_id = "world";
+
+  costmap_.info.map_load_time = costmap_.header.stamp;
+  costmap_.info.resolution = 1;
+  costmap_.info.width = 41;
+  costmap_.info.height = 11;
+
+  // Costmap origin set to be the centre of the grid (as in points2costmap.cpp)
+  costmap_.info.origin.position.x = -costmap_.info.resolution*costmap_.info.width/2;
+  costmap_.info.origin.position.y = -costmap_.info.resolution*costmap_.info.height/2;
+  costmap_.info.origin.position.z = 0;
+  costmap_.info.origin.orientation.x = 0;
+  costmap_.info.origin.orientation.y = 0;
+  costmap_.info.origin.orientation.z = 0;
+  costmap_.info.origin.orientation.w = 1;
+
+  for (int idx = 0; idx < costmap_.info.width*costmap_.info.height; ++idx)
+  {
+    costmap_.data.push_back(0);
+  }
+
+  int cnt = 0;
+  for (int row = 0; row < costmap_.info.height; ++row)
+  {
+    for (int col = 0; col < costmap_.info.width; ++col)
+    {
+      for (std::vector<std::pair<int, int>>::iterator it = obstacle_indexes_.begin(); it != obstacle_indexes_.begin()+1; it++)
+      {
+        if (col == it->first && row == it->second)
+        {
+          costmap_.data.at(cnt) = 100;
+        }
+      }
+      cnt++;
+    }
+  }
+
+  ros::NodeHandle nh("~");
+  nh.setParam("lateral_goal_range", 1.5);
+}
+
+void TestClass::createStateUpdateTable()
+{
+  astar_search_obj.createStateUpdateTable();
+}
+bool TestClass::search()
+{
+  return astar_search_obj.search();
+}
+void TestClass::poseToIndex(const geometry_msgs::Pose& pose, int* index_x, int* index_y, int* index_theta)
+{
+  astar_search_obj.poseToIndex(pose, index_x, index_y, index_theta);
+}
+void TestClass::pointToIndex(const geometry_msgs::Point& point, int* index_x, int* index_y)
+{
+  astar_search_obj.pointToIndex(point, index_x, index_y);
+}
+bool TestClass::isOutOfRange(int index_x, int index_y)
+{
+  return astar_search_obj.isOutOfRange(index_x, index_y);
+}
+void TestClass::setPath(const SimpleNode& goal)
+{
+  astar_search_obj.setPath(goal);
+}
+bool TestClass::setStartNode(const geometry_msgs::Pose& start_pose)
+{
+  return astar_search_obj.setStartNode(start_pose);
+}
+bool TestClass::setGoalNode(const geometry_msgs::Pose& goal_pose)
+{
+  return astar_search_obj.setGoalNode(goal_pose);
+}
+bool TestClass::isGoal(double x, double y, double theta)
+{
+  return astar_search_obj.isGoal(x, y, theta);
+}
+bool TestClass::isObs(int index_x, int index_y)
+{
+  return astar_search_obj.isObs(index_x, index_y);
+}
+bool TestClass::detectCollision(const SimpleNode& sn)
+{
+  return astar_search_obj.detectCollision(sn);
+}
+bool TestClass::calcWaveFrontHeuristic(const SimpleNode& sn)
+{
+  return astar_search_obj.calcWaveFrontHeuristic(sn);
+}
+bool TestClass::detectCollisionWaveFront(const WaveFrontNode& sn)
+{
+  return astar_search_obj.detectCollisionWaveFront(sn);
+}
diff --git a/ros/src/computing/planning/common/lib/astar_search/test/src/test_class.h b/ros/src/computing/planning/common/lib/astar_search/test/src/test_class.h
new file mode 100644
index 00000000000..742bf12a415
--- /dev/null
+++ b/ros/src/computing/planning/common/lib/astar_search/test/src/test_class.h
@@ -0,0 +1,83 @@
+/*
+ * Copyright 2018 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <ros/ros.h>
+#include <gtest/gtest.h>
+
+#include "astar_search/astar_search.h"
+
+class TestClass{
+public:
+  TestClass();
+
+  AstarSearch astar_search_obj;
+
+  void createStateUpdateTable();
+  bool search();
+  void poseToIndex(const geometry_msgs::Pose& pose, int* index_x, int* index_y, int* index_theta);
+  void pointToIndex(const geometry_msgs::Point& point, int* index_x, int* index_y);
+  bool isOutOfRange(int index_x, int index_y);
+  void setPath(const SimpleNode& goal);
+  bool setStartNode(const geometry_msgs::Pose& start_pose);
+  bool setGoalNode(const geometry_msgs::Pose& goal_pose);
+  bool isGoal(double x, double y, double theta);
+  bool isObs(int index_x, int index_y);
+  bool detectCollision(const SimpleNode& sn);
+  bool calcWaveFrontHeuristic(const SimpleNode& sn);
+  bool detectCollisionWaveFront(const WaveFrontNode& sn);
+
+  nav_msgs::OccupancyGrid costmap_;
+
+  std::vector<std::pair<int, int>> obstacle_indexes_;
+
+};
+
+class TestSuite: public ::testing::Test {
+public:
+  TestSuite(){}
+  ~TestSuite(){}
+
+  TestClass test_obj_;
+
+  geometry_msgs::Pose start_pose_;
+  geometry_msgs::Pose goal_pose_;
+  int index_x, index_y, index_theta;
+
+  virtual void SetUp()
+  {
+    test_obj_.astar_search_obj.initialize(test_obj_.costmap_);
+
+    start_pose_.position.x = 0;
+    start_pose_.position.y = 0;
+    start_pose_.position.z = 0;
+    start_pose_.orientation.x = 0;
+    start_pose_.orientation.y = 0;
+    start_pose_.orientation.z = 0;
+    start_pose_.orientation.w = 1;
+
+    goal_pose_.position.x = test_obj_.costmap_.info.resolution * 10;
+    goal_pose_.position.y = 0;
+    goal_pose_.position.z = 0;
+    goal_pose_.orientation.x = 0;
+    goal_pose_.orientation.y = 0;
+    goal_pose_.orientation.z = 0;
+    goal_pose_.orientation.w = 1;
+
+    index_x = 0;
+    index_y = 0;
+    index_theta = 0;
+  }
+};
diff --git a/ros/src/computing/planning/common/lib/astar_search/test/src/test_main.cpp b/ros/src/computing/planning/common/lib/astar_search/test/src/test_main.cpp
new file mode 100644
index 00000000000..ee162efd169
--- /dev/null
+++ b/ros/src/computing/planning/common/lib/astar_search/test/src/test_main.cpp
@@ -0,0 +1,30 @@
+/*
+ * Copyright 2018 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <ros/ros.h>
+#include <gtest/gtest.h>
+
+class TestSuite: public ::testing::Test {
+public:
+	TestSuite(){}
+	~TestSuite(){}
+};
+
+int main(int argc, char **argv) {
+	testing::InitGoogleTest(&argc, argv);
+	ros::init(argc, argv, "TestNode");
+	return RUN_ALL_TESTS();
+}
diff --git a/ros/src/computing/planning/common/lib/astar_search/test/test_astar_search.test b/ros/src/computing/planning/common/lib/astar_search/test/test_astar_search.test
new file mode 100644
index 00000000000..d19cede48b0
--- /dev/null
+++ b/ros/src/computing/planning/common/lib/astar_search/test/test_astar_search.test
@@ -0,0 +1,5 @@
+<launch>
+
+  <test test-name="astar_search-test" pkg="astar_search" type="astar_search-test" name="test_"/>
+
+</launch>
\ No newline at end of file
diff --git a/ros/src/computing/planning/mission/packages/freespace_planner/CMakeLists.txt b/ros/src/computing/planning/mission/packages/freespace_planner/CMakeLists.txt
index 67646048c04..f8bd73ff02a 100644
--- a/ros/src/computing/planning/mission/packages/freespace_planner/CMakeLists.txt
+++ b/ros/src/computing/planning/mission/packages/freespace_planner/CMakeLists.txt
@@ -3,47 +3,52 @@ project(freespace_planner)
 
 
 find_package(autoware_build_flags REQUIRED)
-
-find_package(autoware_msgs REQUIRED)
 find_package(catkin REQUIRED COMPONENTS
   roscpp
+  tf
   nav_msgs
+  geometry_msgs
   visualization_msgs
-  tf
   autoware_msgs
+  astar_search
 )
 
-set(CMAKE_CXX_FLAGS "-O2 -Wall ${CMAKE_CXX_FLAGS}")
-
 catkin_package(
-  CATKIN_DEPENDS autoware_msgs
+  CATKIN_DEPENDS
+  roscpp
+  tf
+  nav_msgs
+  geometry_msgs
+  visualization_msgs
+  autoware_msgs
+  astar_search
 )
 
 include_directories(
   include
-  ${autoware_msgs_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
 )
 
 add_executable(astar_navi
-        nodes/astar_navi/astar_navi.cpp
-        nodes/astar_navi/astar_search.cpp
-        nodes/astar_navi/search_info_ros.cpp
-        include/astar_util.cpp
-        )
+  src/astar_navi/astar_navi.cpp
+  src/astar_navi/astar_navi_node.cpp
+)
+
 target_link_libraries(astar_navi
-        ${catkin_LIBRARIES}
-        )
+  ${catkin_LIBRARIES}
+)
+
 add_dependencies(astar_navi
-        ${catkin_EXPORTED_TARGETS}
-        )
+  ${catkin_EXPORTED_TARGETS}
+)
 
 install(TARGETS astar_navi
         ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
 
 install(DIRECTORY launch/
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
-        PATTERN ".svn" EXCLUDE)
-
+        PATTERN ".svn" EXCLUDE
+)
diff --git a/ros/src/computing/planning/mission/packages/freespace_planner/README.md b/ros/src/computing/planning/mission/packages/freespace_planner/README.md
new file mode 100644
index 00000000000..4952e5bfb63
--- /dev/null
+++ b/ros/src/computing/planning/mission/packages/freespace_planner/README.md
@@ -0,0 +1,56 @@
+# Freespace Planner
+
+Freespace planner package provides the global planner nodes that plan waypoints in the space having static/dynamic obstacles.
+
+## Freespace Planner - Astar Navi
+
+`astar_navi` is global path planner based on Hybrid A* search algorithm in `astar_search` package. This node executes planning at a constant cycle and publish `lane_waypoints_array`.
+
+*NOTE* : You can use `Use Reverse Motion` option for generating path including k-turn, backward control is not enough unified in Autoware planners, currently.
+
+Please see also: motion/packages/waypoint_planner/README.md
+
+### How to launch
+
+* From Runtime Manager:
+
+Computing -> Mission Planning -> freespace_planner -> astar_navi
+
+* From CLI:
+
+`$ roslaunch freespace_planner astar_navi.launch`
+
+### Parameters
+
+Parameters can be set in both Launch file and Runtime manager:
+
+| Parameter in RM | Parameter in Launch | Type | Description | Default |
+| --- | --- | --- | --- | --- |
+| `Use Reverse Motion` | `use_back` | *Bool* | Enable backward motion in Hybrid A* search | `true` |
+| `Costmap Topic` | `costmap_topic` | *String* | Costmap topic for Hybrid-A* search | `semantics/costmap_generator/occupancy_grid` |
+| `Waypoint Velocity` | `waypoints_velocity` | *Double* | Constant velocity on planned waypoints [km/h] | 5.0 |
+| `Update Rate` | `update_rate` | *Double* | Replanning and publishing rate [Hz] | 1.0 |
+
+### Subscriptions/Publications
+
+```
+Node [/astar_avoid]
+Publications:
+ * /safety_waypoints [autoware_msgs/Lane]
+
+Subscriptions:
+ * /base_waypoints [autoware_msgs/Lane]
+ * /closest_waypoint [std_msgs/Int32]
+ * /current_pose [geometry_msgs/PoseStamped]
+ * /current_velocity [geometry_msgs/TwistStamped]
+ * /semantics/costmap_generator/occupancy_grid [nav_msgs/OccupancyGrid]
+ * /obstacle_waypoint [std_msgs/Int32]
+ * /tf [tf2_msgs/TFMessage]
+ * /tf_static [tf2_msgs/TFMessage]
+```
+
+### Demo videos
+
+#### Freespace planning with static obstacle
+
+[![Hybrid A*, freespace planning](https://img.youtube.com/vi/tXfexskIbrg/sddefault.jpg)](https://youtu.be/tXfexskIbrg)
diff --git a/ros/src/computing/planning/mission/packages/freespace_planner/include/astar_util.cpp b/ros/src/computing/planning/mission/packages/freespace_planner/include/astar_util.cpp
deleted file mode 100644
index 0cbcd07256c..00000000000
--- a/ros/src/computing/planning/mission/packages/freespace_planner/include/astar_util.cpp
+++ /dev/null
@@ -1,25 +0,0 @@
-#include "astar_util.h"
-
-
-WaveFrontNode::WaveFrontNode()
-{
-}
-
-WaveFrontNode::WaveFrontNode(int x, int y, double cost)
-  : index_x(x)
-  , index_y(y)
-  , hc(cost)
-{
-}
-
-SimpleNode::SimpleNode()
-{
-}
-
-SimpleNode::SimpleNode(int x, int y, int theta, double gc, double hc)
-  : index_x(x)
-  , index_y(y)
-  , index_theta(theta)
-  , cost(gc + hc)
-{
-}
diff --git a/ros/src/computing/planning/mission/packages/freespace_planner/include/astar_util.h b/ros/src/computing/planning/mission/packages/freespace_planner/include/astar_util.h
deleted file mode 100644
index a71edfa4c56..00000000000
--- a/ros/src/computing/planning/mission/packages/freespace_planner/include/astar_util.h
+++ /dev/null
@@ -1,128 +0,0 @@
-#ifndef ASTAR_UTIL_H
-#define ASTAR_UTIL_H
-
-#include <tf/transform_listener.h>
-
-enum class STATUS : uint8_t
-{
-  NONE,
-  OPEN,
-  CLOSED,
-  OBS
-};
-
-struct AstarNode
-{
-  double x, y, theta;                // Coordinate of each node
-  STATUS status     = STATUS::NONE;  // NONE, OPEN, CLOSED or OBS
-  double gc         = 0;             // Actual cost
-  double hc         = 0;             // heuristic cost
-  bool back;                         // true if the current direction of the vehicle is back
-  uint8_t steering;                  // steering action of this node
-  AstarNode *parent = NULL;          // parent node
-};
-
-struct WaveFrontNode
-{
-  int index_x;
-  int index_y;
-  double hc;
-
-  WaveFrontNode();
-  WaveFrontNode(int x, int y, double cost);
-};
-
-struct NodeUpdate
-{
-  double shift_x;
-  double shift_y;
-  double rotation;
-  double step;
-  int index_theta;
-  bool curve;
-  bool back;
-};
-
-// For open list and goal list
-struct SimpleNode
-{
-  int index_x;
-  int index_y;
-  int index_theta;
-  double cost;
-
-  bool operator>(const SimpleNode& right) const {
-    return cost > right.cost;
-  }
-
-  SimpleNode();
-  SimpleNode(int x, int y, int theta, double gc, double hc);
-};
-
-
-namespace astar
-{
-
-inline double calcDistance(double x1, double y1, double x2, double y2)
-{
-  return std::hypot(x2 - x1, y2 - y1);
-}
-
-inline double modifyTheta(double theta)
-{
-  if (theta < 0)
-    return theta + 2 * M_PI;
-  if (theta >= 2 * M_PI)
-    return theta - 2 * M_PI;
-
-  return theta;
-}
-
-inline geometry_msgs::Pose transformPose(geometry_msgs::Pose &pose, tf::Transform &tf)
-{
-  // Convert ROS pose to TF pose
-  tf::Pose tf_pose;
-  tf::poseMsgToTF(pose, tf_pose);
-
-  // Transform pose
-  tf_pose = tf * tf_pose;
-
-  // Convert TF pose to ROS pose
-  geometry_msgs::Pose ros_pose;
-  tf::poseTFToMsg(tf_pose, ros_pose);
-
-  return ros_pose;
-}
-
-inline WaveFrontNode getWaveFrontNode(int x, int y, double cost)
-{
-  WaveFrontNode node(x, y, cost);
-
-  return node;
-}
-
-inline geometry_msgs::Point calcRelativeCoordinate(geometry_msgs::Pose pose, tf::Point point)
-{
-  tf::Transform transform;
-  tf::poseMsgToTF(pose, transform);
-  transform = transform.inverse();
-
-  point = transform * point;
-  geometry_msgs::Point point_msg;
-  tf::pointTFToMsg(point, point_msg);
-
-  return point_msg;
-}
-
-inline double calcDiffOfRadian(double a, double b)
-{
-  double diff = std::fabs(a - b);
-  if (diff < M_PI)
-    return diff;
-  else
-    return 2 * M_PI - diff;
-}
-
-} // namespace astar
-
-#endif
diff --git a/ros/src/computing/planning/mission/packages/freespace_planner/include/freespace_planner/astar_navi.h b/ros/src/computing/planning/mission/packages/freespace_planner/include/freespace_planner/astar_navi.h
new file mode 100644
index 00000000000..31cfb69a4fc
--- /dev/null
+++ b/ros/src/computing/planning/mission/packages/freespace_planner/include/freespace_planner/astar_navi.h
@@ -0,0 +1,75 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ASTAR_NAVI_H
+#define ASTAR_NAVI_H
+
+#include <iostream>
+#include <vector>
+
+#include <ros/ros.h>
+#include <tf/transform_listener.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <nav_msgs/OccupancyGrid.h>
+#include <autoware_msgs/LaneArray.h>
+
+#include "astar_search/astar_search.h"
+
+class AstarNavi
+{
+public:
+  AstarNavi();
+  ~AstarNavi();
+  void run();
+
+private:
+  // ros
+  ros::NodeHandle nh_, private_nh_;
+  ros::Publisher lane_pub_;
+  ros::Subscriber costmap_sub_;
+  ros::Subscriber current_pose_sub_;
+  ros::Subscriber goal_pose_sub_;
+  tf::TransformListener tf_listener_;
+
+  // params
+  double waypoints_velocity_;   // constant velocity on planned waypoints [km/h]
+  double update_rate_;          // replanning and publishing rate [Hz]
+
+  // classes
+  AstarSearch astar_;
+
+  // variables
+  nav_msgs::OccupancyGrid costmap_;
+  geometry_msgs::PoseStamped current_pose_local_, current_pose_global_;
+  geometry_msgs::PoseStamped goal_pose_local_, goal_pose_global_;
+  tf::Transform local2costmap_;  // local frame (e.g. velodyne) -> costmap origin
+
+  bool costmap_initialized_;
+  bool current_pose_initialized_;
+  bool goal_pose_initialized_;
+
+  // functions, callback
+  void costmapCallback(const nav_msgs::OccupancyGrid& msg);
+  void currentPoseCallback(const geometry_msgs::PoseStamped& msg);
+  void goalPoseCallback(const geometry_msgs::PoseStamped& msg);
+
+  // fucntions
+  tf::Transform getTransform(const std::string& from, const std::string& to);
+  void publishWaypoints(const nav_msgs::Path& path, const double& velocity);
+  void publishStopWaypoints();
+};
+
+#endif
diff --git a/ros/src/computing/planning/mission/packages/freespace_planner/launch/astar_navi.launch b/ros/src/computing/planning/mission/packages/freespace_planner/launch/astar_navi.launch
index 0cee3035ab1..bf883ad2a49 100644
--- a/ros/src/computing/planning/mission/packages/freespace_planner/launch/astar_navi.launch
+++ b/ros/src/computing/planning/mission/packages/freespace_planner/launch/astar_navi.launch
@@ -1,42 +1,54 @@
 <launch>
 
-    <arg name="use_2dnav_goal" default="true" />
-    <arg name="path_frame" default="map" />
-    <arg name="angle_size" default="40" />
-    <arg name="minimum_turning_radius" default="5.5" />
-    <arg name="obstacle_threshold" default="15" />
-    <arg name="goal_radius" default="0.25" /> <!-- meter-->
-    <arg name="goal_angle" default="6.0" /> <!-- degree-->
-    <arg name="robot_length" default="4.5" />
-    <arg name="robot_width" default="2.7" />
-    <arg name="base2back" default="0.8" />
-    <arg name="curve_weight" default="1.04" />
-    <arg name="reverse_weight" default="2.50" />
-    <arg name="use_back" default="false" />
-    <arg name="use_wavefront_heuristic" default="true" />
-    <arg name="waypoint_velocity_kmph" default="5.0" />
-    <arg name="map_topic" default="ring_ogm" />
+  <!-- Navi configurations -->
+  <arg name="costmap_topic" default="semantics/costmap_generator/occupancy_grid" />
+  <arg name="waypoints_velocity" default="5.0" />
+  <arg name="update_rate" default="1.0" />
+
+  <!-- A* search configurations -->
+  <arg name="use_back" default="true" />
+  <arg name="use_potential_heuristic" default="true" />
+  <arg name="use_wavefront_heuristic" default="false" />
+  <arg name="time_limit" default="5000.0" />
+  <arg name="robot_length" default="4.5" />
+  <arg name="robot_width" default="1.75" />
+  <arg name="robot_base2back" default="1.0" />
+  <arg name="minimum_turning_radius" default="6.0" />
+  <arg name="theta_size" default="48" />
+  <arg name="curve_weight" default="1.2" />
+  <arg name="reverse_weight" default="2.00" />
+  <arg name="lateral_goal_range" default="0.5" />
+  <arg name="longitudinal_goal_range" default="2.0" />
+  <arg name="angle_goal_range" default="6.0" />
+  <arg name="obstacle_threshold" default="100" />
+  <arg name="potential_weight" default="10.0" />
+  <arg name="distance_heuristic_weight" default="1.0" />
 
 	<node pkg="freespace_planner" type="astar_navi" name="astar_navi" output="screen">
-          <param name="use_2dnav_goal" value="$(arg use_2dnav_goal)" />
-          <param name="path_frame" value="$(arg path_frame)" />
-          <param name="angle_size" value="$(arg angle_size)" />
-          <param name="minimum_turning_radius" value="$(arg minimum_turning_radius)" />
-          <param name="obstacle_threshold" value="$(arg obstacle_threshold)" />
-          <param name="goal_radius" value="$(arg goal_radius)" />
-          <param name="goal_angle" value="$(arg goal_angle)" />
-          <param name="use_back" value="$(arg use_back)" />
-          <param name="robot_length" value="$(arg robot_length)" />
-          <param name="robot_width" value="$(arg robot_width)" />
-          <param name="base2back" value="$(arg base2back)" />
-          <param name="curve_weight" value="$(arg curve_weight)" />
-          <param name="reverse_weight" value="$(arg reverse_weight)" />
-          <param name="use_wavefront_heuristic" value="$(arg use_wavefront_heuristic)" />
-          <param name="waypoint_velocity_kmph" value="$(arg waypoint_velocity_kmph)" />
-          <param name="map_topic" value="$(arg map_topic)" />
+    <remap from="costmap" to="$(arg costmap_topic)" />
+    <param name="waypoints_velocity" value="$(arg waypoints_velocity)" />
+    <param name="update_rate" value="$(arg update_rate)" />
+
+    <param name="use_back" value="$(arg use_back)" />
+    <param name="use_potential_heuristic" value="$(arg use_potential_heuristic)" />
+    <param name="use_wavefront_heuristic" value="$(arg use_wavefront_heuristic)" />
+    <param name="time_limit" value="$(arg time_limit)" />
+    <param name="robot_length" value="$(arg robot_length)" />
+    <param name="robot_width" value="$(arg robot_width)" />
+    <param name="robot_base2back" value="$(arg robot_base2back)" />
+    <param name="minimum_turning_radius" value="$(arg minimum_turning_radius)" />
+    <param name="theta_size" value="$(arg theta_size)" />
+    <param name="angle_goal_range" value="$(arg angle_goal_range)" />
+    <param name="curve_weight" value="$(arg curve_weight)" />
+    <param name="reverse_weight" value="$(arg reverse_weight)" />
+    <param name="lateral_goal_range" value="$(arg lateral_goal_range)" />
+    <param name="longitudinal_goal_range" value="$(arg longitudinal_goal_range)" />
+    <param name="obstacle_threshold" value="$(arg obstacle_threshold)" />
+    <param name="potential_weight" value="$(arg potential_weight)" />
+    <param name="distance_heuristic_weight" value="$(arg distance_heuristic_weight)" />
 	</node>
 
 	<!-- Visualization node-->
-	<node pkg="waypoint_maker" type="waypoint_marker_publisher" name="waypoint_marker_publisher"/>
+	<node pkg="waypoint_maker" type="waypoint_marker_publisher" name="waypoint_marker_publisher" />
 
 </launch>
diff --git a/ros/src/computing/planning/mission/packages/freespace_planner/nodes/astar_navi/astar_navi.cpp b/ros/src/computing/planning/mission/packages/freespace_planner/nodes/astar_navi/astar_navi.cpp
deleted file mode 100644
index 137f5a37a42..00000000000
--- a/ros/src/computing/planning/mission/packages/freespace_planner/nodes/astar_navi/astar_navi.cpp
+++ /dev/null
@@ -1,103 +0,0 @@
-#include "astar_search.h"
-#include "search_info_ros.h"
-#include "autoware_msgs/LaneArray.h"
-
-namespace
-{
-
-void publishPathAsWaypoints(const ros::Publisher& pub, const nav_msgs::Path& path, const double waypoint_velocity_kmph)
-{
-  autoware_msgs::Lane lane;
-
-  lane.header = path.header;
-  lane.increment = 0;
-  for (const auto& pose : path.poses) {
-    autoware_msgs::Waypoint wp;
-    wp.pose = pose;
-    wp.twist.twist.linear.x = waypoint_velocity_kmph / 3.6;
-
-    lane.waypoints.push_back(wp);
-  }
-
-  autoware_msgs::LaneArray lane_array;
-  lane_array.lanes.push_back(lane);
-  pub.publish(lane_array);
-
-  return;
-}
-
-}
-
-int main(int argc, char **argv)
-{
-  ros::init(argc, argv, "astar_navi");
-  ros::NodeHandle n;
-  ros::NodeHandle private_nh_("~");
-
-  double waypoint_velocity_kmph;
-  std::string map_topic;
-  private_nh_.param<double>("waypoint_velocity_kmph", waypoint_velocity_kmph, 5.0);
-  private_nh_.param<std::string>("map_topic", map_topic, "ring_ogm");
-
-  AstarSearch astar;
-  SearchInfo search_info;
-
-  // ROS subscribers
-  ros::Subscriber map_sub = n.subscribe(map_topic, 1, &SearchInfo::mapCallback, &search_info);
-  ros::Subscriber start_sub = n.subscribe("/current_pose", 1, &SearchInfo::currentPoseCallback, &search_info);
-  ros::Subscriber goal_sub  = n.subscribe("/move_base_simple/goal", 1, &SearchInfo::goalCallback, &search_info);
-
-  // ROS publishers
-  ros::Publisher path_pub       = n.advertise<nav_msgs::Path>("astar_path", 1, true);
-  ros::Publisher waypoints_pub  = n.advertise<autoware_msgs::LaneArray>("lane_waypoints_array", 1, true);
-  ros::Publisher debug_pose_pub = n.advertise<geometry_msgs::PoseArray>("debug_pose_array", 1, true);
-
-  ros::Rate loop_rate(10);
-  while (ros::ok()) {
-    ros::spinOnce();
-
-    if (!search_info.getMapSet() || !search_info.getStartSet() || !search_info.getGoalSet()) {
-      loop_rate.sleep();
-      continue;
-    }
-
-    // Reset flag
-    search_info.reset();
-
-    auto start = std::chrono::system_clock::now();
-
-    // Execute astar search
-    bool result = astar.makePlan(search_info.getStartPose().pose, search_info.getGoalPose().pose, search_info.getMap());
-
-    auto end = std::chrono::system_clock::now();
-    auto usec = std::chrono::duration_cast<std::chrono::microseconds>(end - start).count();
-    //std::cout << "astar msec: " << usec / 1000.0 << std::endl;
-    ROS_INFO("astar msec: %lf", usec / 1000.0);
-
-    if(result) {
-      ROS_INFO("Found GOAL!");
-      publishPathAsWaypoints(waypoints_pub, astar.getPath(), waypoint_velocity_kmph);
-
-#if DEBUG
-      astar.publishPoseArray(debug_pose_pub, "/map");
-      path_pub.publish(astar.getPath());
-      astar.broadcastPathTF();
-#endif
-
-    } else {
-      ROS_INFO("can't find goal...");
-
-#if DEBUG
-      astar.publishPoseArray(debug_pose_pub, "/map"); // debug
-      path_pub.publish(astar.getPath());
-#endif
-
-    }
-
-    astar.reset();
-
-    loop_rate.sleep();
-  }
-
-  return 0;
-}
diff --git a/ros/src/computing/planning/mission/packages/freespace_planner/nodes/astar_navi/astar_search.cpp b/ros/src/computing/planning/mission/packages/freespace_planner/nodes/astar_navi/astar_search.cpp
deleted file mode 100644
index 2f8fb1a4702..00000000000
--- a/ros/src/computing/planning/mission/packages/freespace_planner/nodes/astar_navi/astar_search.cpp
+++ /dev/null
@@ -1,664 +0,0 @@
-#include "astar_search.h"
-
-AstarSearch::AstarSearch()
-  : node_initialized_(false)
-{
-  ros::NodeHandle private_nh_("~");
-  private_nh_.param<bool>("use_2dnav_goal", use_2dnav_goal_, true);
-  private_nh_.param<std::string>("path_frame", path_frame_, "map");
-  private_nh_.param<int>("angle_size", angle_size_, 40);
-  private_nh_.param<double>("minimum_turning_radius", minimum_turning_radius_, 5.1);
-  private_nh_.param<int>("obstacle_threshold", obstacle_threshold_, 15);
-  private_nh_.param<double>("goal_radius", goal_radius_, 0.15);
-  private_nh_.param<double>("goal_angle", goal_angle_, 6.0);
-  private_nh_.param<bool>("use_back", use_back_, true);
-  private_nh_.param<double>("robot_length", robot_length_, 4.5);
-  private_nh_.param<double>("robot_width", robot_width_, 1.75);
-  private_nh_.param<double>("base2back", base2back_, 0.8);
-  private_nh_.param<double>("curve_weight", curve_weight_, 1.05);
-  private_nh_.param<double>("reverse_weight", reverse_weight_, 2.00);
-  private_nh_.param<bool>("use_wavefront_heuristic", use_wavefront_heuristic_, true);
-  private_nh_.param<double>("reverse_weight", reverse_weight_, 2.00);
-
-  createStateUpdateTable(angle_size_);
-}
-
-AstarSearch::~AstarSearch()
-{
-}
-
-void AstarSearch::resizeNode(int width, int height, int angle_size)
-{
-  nodes_.resize(height);
-
-  for (int i = 0; i < height; i++)
-    nodes_[i].resize(width);
-
-  for (int i = 0; i < height; i++)
-    for (int j = 0; j < width; j++)
-      nodes_[i][j].resize(angle_size);
-}
-
-void AstarSearch::poseToIndex(const geometry_msgs::Pose &pose, int *index_x, int *index_y, int *index_theta)
-{
-  *index_x = pose.position.x / map_info_.resolution;
-  *index_y = pose.position.y / map_info_.resolution;
-
-  tf::Quaternion quat;
-  tf::quaternionMsgToTF(pose.orientation, quat);
-  double yaw = tf::getYaw(quat);
-  if (yaw < 0)
-    yaw += 2 * M_PI;
-
-  // Descretize angle
-  static double one_angle_range = 2 * M_PI / angle_size_;
-  *index_theta = yaw / one_angle_range;
-  *index_theta %= angle_size_;
-}
-
-
-void AstarSearch::createStateUpdateTable(int angle_size)
-{
-  // Vehicle moving for each angle
-  state_update_table_.resize(angle_size);
-
-  // 6 is the number of steering actions
-  // max-left, no-turn, and max-right of forward and backward
-  if (use_back_) {
-    for (int i = 0; i < angle_size; i++)
-      state_update_table_[i].resize(6);
-  } else {
-    for (int i = 0; i < angle_size; i++)
-      state_update_table_[i].resize(3);
-  }
-
-  // Minimum moving distance with one state update
-  //     arc  = r                       * theta
-  double step = minimum_turning_radius_ * (2.0 * M_PI / angle_size_);
-
-  for (int i = 0; i < angle_size; i++) {
-    double descretized_angle = 2.0 * M_PI / angle_size;
-    double robot_angle = descretized_angle * i;
-
-    // Calculate right and left circle
-    // Robot moves along these circles
-    double right_circle_center_x = minimum_turning_radius_ * std::sin(robot_angle);
-    double right_circle_center_y = minimum_turning_radius_ * std::cos(robot_angle) * -1.0;
-    double left_circle_center_x  = right_circle_center_x * -1.0;
-    double left_circle_center_y  = right_circle_center_y * -1.0;
-
-    // Calculate x and y shift to next state
-    NodeUpdate nu;
-    // forward
-    nu.shift_x     = step * std::cos(robot_angle);
-    nu.shift_y     = step * std::sin(robot_angle);
-    nu.rotation    = 0;
-    nu.index_theta = 0;
-    nu.step        = step;
-    nu.curve       = false;
-    nu.back        = false;
-    state_update_table_[i][0] = nu;
-
-    // forward right
-    nu.shift_x     = right_circle_center_x + minimum_turning_radius_ * std::cos(M_PI_2 + robot_angle - descretized_angle);
-    nu.shift_y     = right_circle_center_y + minimum_turning_radius_ * std::sin(M_PI_2 + robot_angle - descretized_angle);
-    nu.rotation    = descretized_angle * -1.0;
-    nu.index_theta = -1;
-    nu.step        = step;
-    nu.curve       = true;
-    nu.back        = false;
-    state_update_table_[i][1] = nu;
-
-    // forward left
-    nu.shift_x     = left_circle_center_x + minimum_turning_radius_ * std::cos(-1.0 * M_PI_2 + robot_angle + descretized_angle);
-    nu.shift_y     = left_circle_center_y + minimum_turning_radius_ * std::sin(-1.0 * M_PI_2 + robot_angle + descretized_angle);
-    nu.rotation    = descretized_angle;
-    nu.index_theta = 1;
-    nu.step        = step;
-    nu.curve       = true;
-    nu.back        = false;
-    state_update_table_[i][2] = nu;
-
-    // We don't use back move
-    if (!use_back_)
-      continue;
-
-    // backward
-    nu.shift_x     = step * std::cos(robot_angle) * -1.0;
-    nu.shift_y     = step * std::sin(robot_angle) * -1.0;
-    nu.rotation    = 0;
-    nu.index_theta = 0;
-    nu.step        = step;
-    nu.curve       = false;
-    nu.back        = true;
-    state_update_table_[i][3] = nu;
-
-    // backward right
-    nu.shift_x     = right_circle_center_x + minimum_turning_radius_ * std::cos(M_PI_2 + robot_angle + descretized_angle);
-    nu.shift_y     = right_circle_center_y + minimum_turning_radius_ * std::sin(M_PI_2 + robot_angle + descretized_angle);
-    nu.rotation    = descretized_angle;
-    nu.index_theta = 1;
-    nu.step        = step;
-    nu.curve       = true;
-    nu.back        = true;
-    state_update_table_[i][4] = nu;
-
-    // backward left
-    nu.shift_x     = left_circle_center_x + minimum_turning_radius_ * std::cos(-1.0 * M_PI_2 + robot_angle - descretized_angle);
-    nu.shift_y     = left_circle_center_y + minimum_turning_radius_ * std::sin(-1.0 * M_PI_2 + robot_angle - descretized_angle);
-    nu.rotation    = descretized_angle * -1.0;
-    nu.index_theta = -1;
-    nu.step        = step;
-    nu.curve       = true;
-    nu.back        = true;
-    state_update_table_[i][5] = nu;
-  }
-
-}
-
-bool AstarSearch::isOutOfRange(int index_x, int index_y)
-{
-  if (index_x < 0 || index_x >= static_cast<int>(map_info_.width) || index_y < 0 || index_y >= static_cast<int>(map_info_.height))
-    return true;
-
-  return false;
-}
-
-void AstarSearch::setPath(const SimpleNode &goal)
-{
-  std_msgs::Header header;
-  header.stamp = ros::Time::now();
-  header.frame_id = path_frame_;
-  path_.header = header;
-
-  // From the goal node to the start node
-  AstarNode *node = &nodes_[goal.index_y][goal.index_x][goal.index_theta];
-
-  while (node != NULL) {
-    // Set tf pose
-    tf::Vector3 origin(node->x, node->y, 0);
-    tf::Pose tf_pose;
-    tf_pose.setOrigin(origin);
-    tf_pose.setRotation(tf::createQuaternionFromYaw(node->theta));
-
-    // Transform path to global frame
-    tf_pose = map2ogm_ * tf_pose;
-
-    // Set path as ros message
-    geometry_msgs::PoseStamped ros_pose;
-    tf::poseTFToMsg(tf_pose, ros_pose.pose);
-    ros_pose.header = header;
-    path_.poses.push_back(ros_pose);
-
-    //----DEBUG-------
-    /*
-    debug_pose_array_.poses.push_back(ros_pose.pose);
-    int index_theta = node->theta / (2.0 * M_PI / angle_size_);
-    int index_x = node->x / map_info_.resolution;
-    int index_y = node->y / map_info_.resolution;
-    SimpleNode sn(index_x, index_y, index_theta, 0, 0);
-    */
-    //detectCollisionPose(sn);
-    //--------------
-
-    // To the next node
-    node = node->parent;
-  }
-
-  // Reverse the vector to be start to goal order
-  std::reverse(path_.poses.begin(), path_.poses.end());
-}
-
-// theta is 0 ~ 2pi
-bool AstarSearch::isGoal(double x, double y, double theta)
-{
-  // To reduce computation time, we use square value
-  static const double goal_radius = goal_radius_ * goal_radius_; // meter
-  static const double goal_angle  = M_PI * goal_angle_ / 180.0; // degrees -> radian
-
-  // Check the pose of goal
-  if (std::pow(goal_pose_local_.pose.position.x - x, 2) + std::pow(goal_pose_local_.pose.position.y - y, 2) < goal_radius) {
-    // Get goal yaw in 0 ~ 2pi
-    double goal_yaw = astar::modifyTheta(tf::getYaw(goal_pose_local_.pose.orientation));
-
-    // Check the orientation of goal
-    if (astar::calcDiffOfRadian(goal_yaw, theta) < goal_angle)
-      return true;
-  }
-
-  return false;
-}
-
-bool AstarSearch::detectCollision(const SimpleNode &sn)
-{
-  // Define the robot as rectangle
-  static double left   = -1.0 * base2back_;
-  static double right  = robot_length_ - base2back_;
-  static double top    = robot_width_ / 2.0;
-  static double bottom = -1.0 * robot_width_ / 2.0;
-  static double resolution = map_info_.resolution;
-
-  // Coordinate of base_link in OccupancyGrid frame
-  static double one_angle_range = 2.0 * M_PI / angle_size_;
-  double base_x     = sn.index_x * resolution;
-  double base_y     = sn.index_y * resolution;
-  double base_theta = sn.index_theta * one_angle_range;
-
-  // Calculate cos and sin in advance
-  double cos_theta = std::cos(base_theta);
-  double sin_theta = std::sin(base_theta);
-
-  // Convert each point to index and check if the node is Obstacle
-  for (double x = left; x < right; x += resolution) {
-    for (double y = top; y > bottom; y -= resolution) {
-      // 2D point rotation
-      int index_x = (x * cos_theta - y * sin_theta + base_x) / resolution;
-      int index_y = (x * sin_theta + y * cos_theta + base_y) / resolution;
-
-      if (isOutOfRange(index_x, index_y))
-        return true;
-      if (nodes_[index_y][index_x][0].status == STATUS::OBS)
-        return true;
-    }
-  }
-
-  return false;
-}
-
-bool AstarSearch::calcWaveFrontHeuristic(const SimpleNode &sn)
-{
-  // Set start point for wavefront search
-  // This is goal for Astar search
-  nodes_[sn.index_y][sn.index_x][0].hc = 0;
-  WaveFrontNode wf_node(sn.index_x, sn.index_y, 1e-10);
-  std::queue<WaveFrontNode> qu;
-  qu.push(wf_node);
-
-  // State update table for wavefront search
-  // Nodes are expanded for each neighborhood cells (moore neighborhood)
-  double resolution = map_info_.resolution;
-  static std::vector<WaveFrontNode> updates = {
-    astar::getWaveFrontNode( 0,  1, resolution),
-    astar::getWaveFrontNode(-1,  0, resolution),
-    astar::getWaveFrontNode( 1,  0, resolution),
-    astar::getWaveFrontNode( 0, -1, resolution),
-    astar::getWaveFrontNode(-1,  1, std::hypot(resolution, resolution)),
-    astar::getWaveFrontNode( 1,  1, std::hypot(resolution, resolution)),
-    astar::getWaveFrontNode(-1, -1, std::hypot(resolution, resolution)),
-    astar::getWaveFrontNode( 1, -1, std::hypot(resolution, resolution)),
-  };
-
-  // Get start index
-  int start_index_x;
-  int start_index_y;
-  int start_index_theta;
-  poseToIndex(start_pose_local_.pose, &start_index_x, &start_index_y, &start_index_theta);
-
-  // Whether the robot can reach goal
-  bool reachable = false;
-
-  // Start wavefront search
-  while (!qu.empty()) {
-    WaveFrontNode ref = qu.front();
-    qu.pop();
-
-    WaveFrontNode next;
-    for (const auto &u : updates) {
-      next.index_x = ref.index_x + u.index_x;
-      next.index_y = ref.index_y + u.index_y;
-
-      // out of range OR already visited OR obstacle node
-      if (isOutOfRange(next.index_x, next.index_y) ||
-          nodes_[next.index_y][next.index_x][0].hc > 0 ||
-          nodes_[next.index_y][next.index_x][0].status == STATUS::OBS)
-        continue;
-
-      // Take the size of robot into account
-      if (detectCollisionWaveFront(next))
-        continue;
-
-      // Check if we can reach from start to goal
-      if (next.index_x == start_index_x && next.index_y == start_index_y)
-        reachable = true;
-
-      // Set wavefront heuristic cost
-      next.hc = ref.hc + u.hc;
-      nodes_[next.index_y][next.index_x][0].hc = next.hc;
-
-      qu.push(next);
-    }
-  }
-
-  // End of search
-  return reachable;
-}
-
-// Simple collidion detection for wavefront search
-bool AstarSearch::detectCollisionWaveFront(const WaveFrontNode &ref)
-{
-  // Define the robot as square
-  static double half = robot_width_ / 2;
-  double robot_x = ref.index_x * map_info_.resolution;
-  double robot_y = ref.index_y * map_info_.resolution;
-
-  for (double y = half; y > -1.0 * half; y -= map_info_.resolution) {
-    for (double x = -1.0 * half; x < half; x += map_info_.resolution) {
-      int index_x = (robot_x + x) / map_info_.resolution;
-      int index_y = (robot_y + y) / map_info_.resolution;
-
-      if (isOutOfRange(index_x, index_y))
-        return true;
-
-      if (nodes_[index_y][index_x][0].status == STATUS::OBS)
-        return true;
-    }
-  }
-
-  return false;
-}
-
-void AstarSearch::reset()
-{
-  // Clear path
-  path_.poses.clear();
-
-  // Clear queue
-  std::priority_queue<SimpleNode, std::vector<SimpleNode>, std::greater<SimpleNode>> empty;
-  std::swap(openlist_, empty);
-}
-
-void AstarSearch::setMap(const nav_msgs::OccupancyGrid &map)
-{
-  map_info_ = map.info;
-
-  // TODO: what frame do we use?
-  std::string map_frame = "map";
-  std::string ogm_frame = map.header.frame_id;
-  // Set transform
-  tf::StampedTransform map2ogm_frame;
-  try
-  {
-    tf_listener_.lookupTransform(map_frame, ogm_frame, ros::Time(0), map2ogm_frame);
-  }
-  catch (tf::TransformException ex)
-  {
-    ROS_ERROR("%s", ex.what());
-    return;
-  }
-
-  tf::Transform map2ogm;
-  geometry_msgs::Pose ogm_in_map = astar::transformPose(map_info_.origin, map2ogm_frame);
-  tf::poseMsgToTF(ogm_in_map, map2ogm_);
-
-  // Initialize node according to map size
-  if (!node_initialized_) {
-    resizeNode(map.info.width, map.info.height, angle_size_);
-    node_initialized_ = true;
-  }
-
-  for (size_t i = 0; i < map.info.height; i++) {
-    for (size_t j = 0; j < map.info.width; j++) {
-      // Index of subscribing OccupancyGrid message
-      size_t og_index = i * map.info.width + j;
-      int cost = map.data[og_index];
-
-      // more than threshold or unknown area
-      if (cost > obstacle_threshold_/* || cost < 0 */) {
-        nodes_[i][j][0].status = STATUS::OBS;
-      }
-      else
-      {
-        for (int k = 0; k < angle_size_; k++) {
-          //nodes_[i][j][k].gc     = 0;
-          nodes_[i][j][k].hc     = 0;
-          nodes_[i][j][k].status = STATUS::NONE;
-          nodes_[i][j][k].parent = NULL;
-        }
-      }
-
-    }
-  }
-
-}
-
-bool AstarSearch::setStartNode()
-{
-  // Get index of start pose
-  int index_x;
-  int index_y;
-  int index_theta;
-  poseToIndex(start_pose_local_.pose, &index_x, &index_y, &index_theta);
-  SimpleNode start_sn(index_x, index_y, index_theta, 0, 0);
-
-  // Check if start is valid
-  if (isOutOfRange(index_x, index_y) || detectCollision(start_sn))
-    return false;
-
-  // Set start node
-  AstarNode &start_node = nodes_[index_y][index_x][index_theta];
-  start_node.x      = start_pose_local_.pose.position.x;
-  start_node.y      = start_pose_local_.pose.position.y;
-  start_node.theta  = 2.0 * M_PI / angle_size_ * index_theta;
-  start_node.gc     = 0;
-  start_node.back   = false;
-  start_node.status = STATUS::OPEN;
-  if (!use_wavefront_heuristic_)
-    start_node.hc = astar::calcDistance(start_pose_local_.pose.position.x, start_pose_local_.pose.position.y, goal_pose_local_.pose.position.x, goal_pose_local_.pose.position.y);
-
-  // Push start node to openlist
-  start_sn.cost = start_node.gc + start_node.hc;
-  openlist_.push(start_sn);
-  return true;
-}
-
-bool AstarSearch::setGoalNode()
-{
-  // Get index of goal pose
-  int index_x;
-  int index_y;
-  int index_theta;
-  poseToIndex(goal_pose_local_.pose, &index_x, &index_y, &index_theta);
-
-  SimpleNode goal_sn(index_x, index_y, index_theta, 0, 0);
-
-  // Check if goal is valid
-  if (isOutOfRange(index_x, index_y) || detectCollision(goal_sn))
-    return false;
-
-  // Calculate wavefront heuristic cost
-  if (use_wavefront_heuristic_) {
-    bool wavefront_result = calcWaveFrontHeuristic(goal_sn);
-    if (!wavefront_result) {
-      ROS_WARN("Goal is not reachable...");
-      return false;
-    }
-  }
-
-  return true;
-}
-
-bool AstarSearch::search()
-{
-  // -- Start Astar search ----------
-  // If the openlist is empty, search failed
-  while (!openlist_.empty()) {
-
-    // Terminate the search if the count reaches a certain value
-    static int search_count = 0;
-    search_count++;
-    if (search_count > 300000) {
-      ROS_WARN("Exceed time limit");
-      search_count = 0;
-      return false;
-    }
-
-    // Pop minimum cost node from openlist
-    SimpleNode sn;
-    sn = openlist_.top();
-    openlist_.pop();
-    nodes_[sn.index_y][sn.index_x][sn.index_theta].status = STATUS::CLOSED;
-
-    // Expand nodes from this node
-    AstarNode *current_node = &nodes_[sn.index_y][sn.index_x][sn.index_theta];
-
-    // for each update
-    for (const auto &state : state_update_table_[sn.index_theta]) {
-      // Next state
-      double next_x     = current_node->x + state.shift_x;
-      double next_y     = current_node->y + state.shift_y;
-      double next_theta = astar::modifyTheta(current_node->theta + state.rotation);
-      double move_cost  = state.step;
-
-#if DEBUG
-      // Display search process
-      geometry_msgs::Pose p;
-      p.position.x = next_x;
-      p.position.y = next_y;
-      tf::quaternionTFToMsg(tf::createQuaternionFromYaw(next_theta), p.orientation);
-      p = astar::transformPose(p, map2ogm_);
-      debug_pose_array_.poses.push_back(p);
-#endif
-
-      // Increase curve cost
-      if (state.curve)
-        move_cost *= curve_weight_;
-
-      // Increase reverse cost
-      if (current_node->back != state.back)
-        move_cost *= reverse_weight_;
-
-      // Calculate index of the next state
-      SimpleNode next;
-      next.index_x     = next_x / map_info_.resolution;
-      next.index_y     = next_y / map_info_.resolution;
-      next.index_theta = sn.index_theta + state.index_theta;
-      // Avoid invalid index
-      next.index_theta = (next.index_theta + angle_size_) % angle_size_;
-
-      // Check if the index is valid
-      if (isOutOfRange(next.index_x, next.index_y) || detectCollision(next))
-        continue;
-
-      AstarNode *next_node = &nodes_[next.index_y][next.index_x][next.index_theta];
-      double next_hc       =  nodes_[next.index_y][next.index_x][0].hc;
-
-      // Calculate euclid distance heuristic cost
-      if (!use_wavefront_heuristic_)
-        next_hc = astar::calcDistance(next_x, next_y, goal_pose_local_.pose.position.x, goal_pose_local_.pose.position.y);
-
-      // GOAL CHECK
-      if (isGoal(next_x, next_y, next_theta)) {
-        search_count = 0;
-        next_node->status = STATUS::OPEN;
-        next_node->x      = next_x;
-        next_node->y      = next_y;
-        next_node->theta  = next_theta;
-        next_node->gc     = current_node->gc + move_cost;
-        next_node->hc     = next_hc;
-        next_node->back   = state.back;
-        next_node->parent = current_node;
-
-        setPath(next);
-        return true;
-      }
-
-      // NONE
-      if (next_node->status == STATUS::NONE) {
-        next_node->status = STATUS::OPEN;
-        next_node->x      = next_x;
-        next_node->y      = next_y;
-        next_node->theta  = next_theta;
-        next_node->gc     = current_node->gc + move_cost;
-        next_node->hc     = next_hc;
-        next_node->back   = state.back;
-        next_node->parent = current_node;
-
-        next.cost = next_node->gc + next_node->hc;
-        openlist_.push(next);
-        continue;
-      }
-
-      // OPEN or CLOSED
-      if (next_node->status == STATUS::OPEN || next_node->status == STATUS::CLOSED) {
-        if (current_node->gc + move_cost + next_hc < next_node->gc + next_hc) {
-          next_node->status = STATUS::OPEN;
-          next_node->x      = next_x;
-          next_node->y      = next_y;
-          next_node->theta  = next_theta;
-          next_node->gc     = current_node->gc + move_cost;
-          next_node->hc     = next_hc;
-          next_node->back   = state.back;
-          next_node->parent = current_node;
-
-          next.cost = next_node->gc + next_node->hc;
-          openlist_.push(next);
-          continue;
-        }
-      }
-
-      if (search_count == 0)
-        break;
-
-    } // state update
-
-  }
-
-  // Failed to find path
-  ROS_WARN("Openlist is Empty!");
-  return false;
-}
-
-bool AstarSearch::makePlan(const geometry_msgs::Pose &start_pose, const geometry_msgs::Pose &goal_pose, const nav_msgs::OccupancyGrid &map)
-{
-  start_pose_local_.pose = start_pose;
-  goal_pose_local_.pose  = goal_pose;
-
-  setMap(map);
-
-  if (!setStartNode()) {
-    ROS_WARN("Invalid start pose!");
-    return false;
-  }
-
-  if (!setGoalNode()) {
-    ROS_WARN("Invalid goal pose!");
-    return false;
-  }
-
-  bool result = search();
-
-  return result;
-}
-
-// for debug
-void AstarSearch::publishPoseArray(const ros::Publisher &pub, const std::string &frame)
-{
-  debug_pose_array_.header.frame_id = frame;
-  //debug_pose_array_.poses.push_back(map_info_.origin);
-  debug_pose_array_.poses.push_back(start_pose_.pose);
-  debug_pose_array_.poses.push_back(goal_pose_.pose);
-
-  pub.publish(debug_pose_array_);
-
-  debug_pose_array_.poses.clear();
-}
-
-// for demo
-void AstarSearch::broadcastPathTF()
-{
-  tf::Transform transform;
-
-  // Broadcast from start pose to goal pose
-  for (unsigned int i = 0; i < path_.poses.size(); i++) {
-    tf::Quaternion quat;
-    tf::quaternionMsgToTF(path_.poses[i].pose.orientation, quat);
-    transform.setOrigin(tf::Vector3(path_.poses[i].pose.position.x, path_.poses[i].pose.position.y, path_.poses[i].pose.position.z));
-    transform.setRotation(quat);
-
-    tf_broadcaster_.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "/map", "/astar_path"));
-
-    // sleep 0.1 [sec]
-    usleep(100000);
-  }
-
-}
diff --git a/ros/src/computing/planning/mission/packages/freespace_planner/nodes/astar_navi/astar_search.h b/ros/src/computing/planning/mission/packages/freespace_planner/nodes/astar_navi/astar_search.h
deleted file mode 100644
index d0b9537e156..00000000000
--- a/ros/src/computing/planning/mission/packages/freespace_planner/nodes/astar_navi/astar_search.h
+++ /dev/null
@@ -1,93 +0,0 @@
-#ifndef ASTAR_NAVI_NODE_H
-#define ASTAR_NAVI_NODE_H
-
-#define DEBUG 0
-
-#include "astar_util.h"
-#include <ros/ros.h>
-#include <nav_msgs/OccupancyGrid.h>
-#include <geometry_msgs/PoseArray.h>
-#include <nav_msgs/Path.h>
-#include <tf/transform_broadcaster.h>
-#include <tf/transform_listener.h>
-
-#include <iostream>
-#include <vector>
-#include <queue>
-#include <string>
-#include <chrono>
-
-class AstarSearch
-{
- public:
-  AstarSearch();
-  ~AstarSearch();
-
-  //-- FOR DEBUG -------------------------
-  void publishPoseArray(const ros::Publisher &pub, const std::string &frame);
-  geometry_msgs::PoseArray debug_pose_array_;
-  //--------------------------------------
-
-  bool makePlan(const geometry_msgs::Pose &start_pose, const geometry_msgs::Pose &goal_pose, const nav_msgs::OccupancyGrid &map);
-  void reset();
-  void broadcastPathTF();
-  nav_msgs::Path getPath() {return path_;}
-
- private:
-  bool search();
-  void resizeNode(int width, int height, int angle_size);
-  void createStateUpdateTable(int angle_size);
-  void createStateUpdateTableLocal(int angle_size); //
-  void poseToIndex(const geometry_msgs::Pose &pose, int *index_x, int *index_y, int *index_theta);
-  bool isOutOfRange(int index_x, int index_y);
-  void setPath(const SimpleNode &goal);
-  void setMap(const nav_msgs::OccupancyGrid &map);
-  bool setStartNode();
-  bool setGoalNode();
-  bool isGoal(double x, double y, double theta);
-  bool detectCollision(const SimpleNode &sn);
-  bool calcWaveFrontHeuristic(const SimpleNode &sn);
-  bool detectCollisionWaveFront(const WaveFrontNode &sn);
-
-  // ROS param
-  std::string path_frame_;        // publishing path frame
-  int angle_size_;                // descritized angle size
-  double minimum_turning_radius_; // varying by vehicles
-  int obstacle_threshold_;        // more than this value is regarded as obstacles
-  double goal_radius_;            // meter
-  double goal_angle_;             // degree
-  bool use_back_;                 // use backward driving
-  double robot_length_;
-  double robot_width_;
-  double base2back_;
-  double curve_weight_;
-  double reverse_weight_;
-  bool use_wavefront_heuristic_;
-  bool use_2dnav_goal_;
-
-  bool node_initialized_;
-  std::vector<std::vector<NodeUpdate>> state_update_table_;
-  nav_msgs::MapMetaData map_info_;
-  std::vector<std::vector<std::vector<AstarNode>>> nodes_;
-  std::priority_queue<SimpleNode, std::vector<SimpleNode>, std::greater<SimpleNode>> openlist_;
-  std::vector<SimpleNode> goallist_;
-
-  // Pose in global(/map) frame
-  geometry_msgs::PoseStamped start_pose_;
-  geometry_msgs::PoseStamped goal_pose_;
-
-  // Pose in OccupancyGrid frame
-  geometry_msgs::PoseStamped start_pose_local_;
-  geometry_msgs::PoseStamped goal_pose_local_;
-
-  // Transform which converts OccupancyGrid frame to global frame
-  tf::Transform map2ogm_;
-
-  tf::TransformListener tf_listener_;
-  tf::TransformBroadcaster tf_broadcaster_;
-
-  // Searched path
-  nav_msgs::Path path_;
-};
-
-#endif // ASTAR_NAVI_NODE_H
diff --git a/ros/src/computing/planning/mission/packages/freespace_planner/nodes/astar_navi/search_info_ros.cpp b/ros/src/computing/planning/mission/packages/freespace_planner/nodes/astar_navi/search_info_ros.cpp
deleted file mode 100644
index a783e707af7..00000000000
--- a/ros/src/computing/planning/mission/packages/freespace_planner/nodes/astar_navi/search_info_ros.cpp
+++ /dev/null
@@ -1,106 +0,0 @@
-#include "search_info_ros.h"
-
-SearchInfo::SearchInfo()
-  : map_set_(false)
-  , start_set_(false)
-  , goal_set_(false)
-{
-}
-
-SearchInfo::~SearchInfo()
-{
-}
-
-void SearchInfo::mapCallback(const nav_msgs::OccupancyGridConstPtr &msg)
-{
-  map_ = *msg;
-
-  // TODO: what frame do we use?
-  std::string map_frame = "map";
-  std::string ogm_frame = msg->header.frame_id;
-  // Set transform
-  tf::StampedTransform map2ogm_frame;
-  try
-  {
-    tf_listener_.lookupTransform(map_frame, ogm_frame, ros::Time(0), map2ogm_frame);
-  }
-  catch (tf::TransformException ex)
-  {
-    ROS_ERROR("%s", ex.what());
-    return;
-  }
-
-  tf::Transform map2ogm;
-  geometry_msgs::Pose ogm_in_map = astar::transformPose(map_.info.origin, map2ogm_frame);
-  tf::poseMsgToTF(ogm_in_map, map2ogm);
-  ogm2map_ = map2ogm.inverse();
-
-  map_set_ = true;
-}
-
-
-void SearchInfo::startCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr &msg)
-{
-  if (!map_set_)
-    return;
-
-  start_pose_global_.header = msg->header;
-  start_pose_global_.pose   = msg->pose.pose;
-  start_pose_local_.pose    = astar::transformPose(start_pose_global_.pose, ogm2map_);
-  start_pose_local_.header  = start_pose_global_.header;
-
-  start_set_ = true;
-}
-
-
-void SearchInfo::currentPoseCallback(const geometry_msgs::PoseStampedConstPtr &msg)
-{
-  if (!map_set_)
-    return;
-
-  start_pose_global_ = *msg;
-  start_pose_local_.pose = astar::transformPose(start_pose_global_.pose, ogm2map_);
-
-  start_set_ = true;
-}
-
-
-void SearchInfo::goalCallback(const geometry_msgs::PoseStampedConstPtr &msg)
-{
-  if (!map_set_)
-    return;
-
-  ROS_INFO("Subcscribed goal pose!");
-
-  // TODO: what frame do we use?
-  std::string global_frame  = "map";
-  std::string goal_frame  = msg->header.frame_id;
-
-  // Get transform (map to world in Autoware)
-  tf::StampedTransform map2world;
-  try
-  {
-    tf_listener_.lookupTransform(global_frame, goal_frame, ros::Time(0), map2world);
-  }
-  catch (tf::TransformException ex)
-  {
-    ROS_ERROR("%s", ex.what());
-    return;
-  }
-
-  // Set pose in Global frame
-  geometry_msgs::Pose msg_pose = msg->pose;
-  goal_pose_global_.pose   = astar::transformPose(msg_pose, map2world);
-  goal_pose_global_.header = msg->header;
-  goal_pose_local_.pose    = astar::transformPose(goal_pose_global_.pose, ogm2map_);
-  goal_pose_local_.header = goal_pose_global_.header;
-
-  goal_set_ = true;
-}
-
-void SearchInfo::reset()
-{
-  map_set_   = false;
-  start_set_ = false;
-  goal_set_  = false;
-}
diff --git a/ros/src/computing/planning/mission/packages/freespace_planner/nodes/astar_navi/search_info_ros.h b/ros/src/computing/planning/mission/packages/freespace_planner/nodes/astar_navi/search_info_ros.h
deleted file mode 100644
index 54abe19a109..00000000000
--- a/ros/src/computing/planning/mission/packages/freespace_planner/nodes/astar_navi/search_info_ros.h
+++ /dev/null
@@ -1,52 +0,0 @@
-#ifndef SEARCH_INFO_ROS_H
-#define SEARCH_INFO_ROS_H
-
-#include "astar_util.h"
-
-#include <nav_msgs/OccupancyGrid.h>
-#include <geometry_msgs/PoseStamped.h>
-#include <geometry_msgs/PoseWithCovarianceStamped.h>
-#include <tf/transform_listener.h>
-#include <std_msgs/Int32.h>
-
-class SearchInfo
-{
- public:
-  SearchInfo();
-  ~SearchInfo();
-
-  // ROS Callback
-  void mapCallback(const nav_msgs::OccupancyGridConstPtr &msg);
-  void startCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr &msg);
-  void goalCallback(const geometry_msgs::PoseStampedConstPtr &msg);
-  void currentPoseCallback(const geometry_msgs::PoseStampedConstPtr &msg);
-
-  // get method
-  bool getMapSet() {return map_set_;}
-  bool getStartSet() {return start_set_;}
-  bool getGoalSet() {return goal_set_;}
-  nav_msgs::OccupancyGrid getMap() {return map_;}
-  geometry_msgs::PoseStamped getStartPose() {return start_pose_local_;}
-  geometry_msgs::PoseStamped getGoalPose() {return goal_pose_local_;}
-
-  // Reset flags
-  void reset();
-
- private:
-  nav_msgs::OccupancyGrid map_;
-  geometry_msgs::PoseStamped start_pose_global_;
-  geometry_msgs::PoseStamped goal_pose_global_;
-  geometry_msgs::PoseStamped start_pose_local_;
-  geometry_msgs::PoseStamped goal_pose_local_;
-  // Transform which converts global frame (/map in Autoware) to OccupancyGrid frame
-  tf::Transform ogm2map_;
-  tf::TransformListener tf_listener_;
-  geometry_msgs::Pose current_pose_;
-
-  // set data flag
-  bool map_set_;
-  bool start_set_;
-  bool goal_set_;
-};
-
-#endif // SEARCH_INFO_ROS_H
diff --git a/ros/src/computing/planning/mission/packages/freespace_planner/package.xml b/ros/src/computing/planning/mission/packages/freespace_planner/package.xml
index 0092b2791d3..2fb41c85a8e 100644
--- a/ros/src/computing/planning/mission/packages/freespace_planner/package.xml
+++ b/ros/src/computing/planning/mission/packages/freespace_planner/package.xml
@@ -3,7 +3,10 @@
   <name>freespace_planner</name>
   <version>1.10.0</version>
   <description>The freespace_planner package</description>
-  <maintainer email="antm678@ertl.jp">Tomohito ANDO</maintainer>
+  <maintainer email="aohsato@gmail.com">Akihito OHSATO</maintainer>
+
+  <author email="aohsato@gmail.com">Akihito OHSATO</author>
+  <author email="antm678@ertl.jp">Tomohito ANDO</author>
 
   <license>Apache 2</license>
 
@@ -11,17 +14,20 @@
   <buildtool_depend>autoware_build_flags</buildtool_depend>
 
   <build_depend>roscpp</build_depend>
-  <build_depend>autoware_msgs</build_depend>
   <build_depend>tf</build_depend>
   <build_depend>nav_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
+  <build_depend>visualization_msgs</build_depend>
+  <build_depend>autoware_msgs</build_depend>
+  <build_depend>astar_search</build_depend>
 
   <run_depend>roscpp</run_depend>
-  <run_depend>autoware_msgs</run_depend>
   <run_depend>tf</run_depend>
   <run_depend>nav_msgs</run_depend>
   <run_depend>geometry_msgs</run_depend>
-
+  <run_depend>visualization_msgs</run_depend>
+  <run_depend>autoware_msgs</run_depend>
+  <run_depend>astar_search</run_depend>
 
   <export>
   </export>
diff --git a/ros/src/computing/planning/mission/packages/freespace_planner/src/astar_navi/astar_navi.cpp b/ros/src/computing/planning/mission/packages/freespace_planner/src/astar_navi/astar_navi.cpp
new file mode 100644
index 00000000000..18f1d16239c
--- /dev/null
+++ b/ros/src/computing/planning/mission/packages/freespace_planner/src/astar_navi/astar_navi.cpp
@@ -0,0 +1,174 @@
+/*
+ * Copyright 2015-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "freespace_planner/astar_navi.h"
+
+AstarNavi::AstarNavi() : nh_(), private_nh_("~")
+{
+  private_nh_.param<double>("waypoints_velocity", waypoints_velocity_, 5.0);
+  private_nh_.param<double>("update_rate", update_rate_, 1.0);
+
+  lane_pub_ = nh_.advertise<autoware_msgs::LaneArray>("lane_waypoints_array", 1, true);
+  costmap_sub_ = nh_.subscribe("costmap", 1, &AstarNavi::costmapCallback, this);
+  current_pose_sub_ = nh_.subscribe("current_pose", 1, &AstarNavi::currentPoseCallback, this);
+  goal_pose_sub_ = nh_.subscribe("move_base_simple/goal", 1, &AstarNavi::goalPoseCallback, this);
+
+  costmap_initialized_ = false;
+  current_pose_initialized_ = false;
+  goal_pose_initialized_ = false;
+}
+
+AstarNavi::~AstarNavi()
+{
+}
+
+void AstarNavi::costmapCallback(const nav_msgs::OccupancyGrid& msg)
+{
+  costmap_ = msg;
+  tf::poseMsgToTF(costmap_.info.origin, local2costmap_);
+
+  costmap_initialized_ = true;
+}
+
+void AstarNavi::currentPoseCallback(const geometry_msgs::PoseStamped& msg)
+{
+  if (!costmap_initialized_)
+  {
+    return;
+  }
+
+  current_pose_global_ = msg;
+  current_pose_local_.pose = transformPose(
+      current_pose_global_.pose, getTransform(costmap_.header.frame_id, current_pose_global_.header.frame_id));
+  current_pose_local_.header.frame_id = costmap_.header.frame_id;
+  current_pose_local_.header.stamp = current_pose_global_.header.stamp;
+
+  current_pose_initialized_ = true;
+}
+
+void AstarNavi::goalPoseCallback(const geometry_msgs::PoseStamped& msg)
+{
+  if (!costmap_initialized_)
+  {
+    return;
+  }
+
+  goal_pose_global_ = msg;
+  goal_pose_local_.pose =
+      transformPose(goal_pose_global_.pose, getTransform(costmap_.header.frame_id, goal_pose_global_.header.frame_id));
+  goal_pose_local_.header.frame_id = costmap_.header.frame_id;
+  goal_pose_local_.header.stamp = goal_pose_global_.header.stamp;
+
+  goal_pose_initialized_ = true;
+
+  ROS_INFO_STREAM("Subscribed goal pose and transform from " << msg.header.frame_id << " to "
+                                                             << goal_pose_local_.header.frame_id << "\n"
+                                                             << goal_pose_local_.pose);
+}
+
+tf::Transform AstarNavi::getTransform(const std::string& from, const std::string& to)
+{
+  tf::StampedTransform stf;
+  try
+  {
+    tf_listener_.lookupTransform(from, to, ros::Time(0), stf);
+  }
+  catch (tf::TransformException ex)
+  {
+    ROS_ERROR("%s", ex.what());
+  }
+  return stf;
+}
+
+void AstarNavi::run()
+{
+  ros::Rate rate(update_rate_);
+
+  nav_msgs::Path empty_path;
+  empty_path.header.stamp = ros::Time::now();
+  empty_path.header.frame_id = costmap_.header.frame_id;
+
+  while (ros::ok())
+  {
+    ros::spinOnce();
+
+    if (!costmap_initialized_ || !current_pose_initialized_ || !goal_pose_initialized_)
+    {
+      rate.sleep();
+      continue;
+    }
+
+    // initialize vector for A* search, this runs only once
+    astar_.initialize(costmap_);
+
+    // update local goal pose
+    goalPoseCallback(goal_pose_global_);
+
+    // execute astar search
+    ros::WallTime start = ros::WallTime::now();
+    bool result = astar_.makePlan(current_pose_local_.pose, goal_pose_local_.pose);
+    ros::WallTime end = ros::WallTime::now();
+
+    ROS_INFO("Astar planning: %f [s]", (end - start).toSec());
+
+    if (result)
+    {
+      ROS_INFO("Found GOAL!");
+      publishWaypoints(astar_.getPath(), waypoints_velocity_);
+    }
+    else
+    {
+      ROS_INFO("Can't find goal...");
+      publishStopWaypoints();
+    }
+
+    astar_.reset();
+    rate.sleep();
+  }
+}
+
+void AstarNavi::publishWaypoints(const nav_msgs::Path& path, const double& velocity)
+{
+  autoware_msgs::Lane lane;
+  lane.header.frame_id = "map";
+  lane.header.stamp = path.header.stamp;
+  lane.increment = 0;
+
+  for (const auto& pose : path.poses)
+  {
+    autoware_msgs::Waypoint wp;
+    wp.pose.header = lane.header;
+    wp.pose.pose = transformPose(pose.pose, getTransform(lane.header.frame_id, pose.header.frame_id));
+    wp.pose.pose.position.z = current_pose_global_.pose.position.z;  // height = const
+    wp.twist.twist.linear.x = velocity / 3.6;  // velocity = const
+    lane.waypoints.push_back(wp);
+  }
+
+  autoware_msgs::LaneArray lane_array;
+  lane_array.lanes.push_back(lane);
+  lane_pub_.publish(lane_array);
+}
+
+void AstarNavi::publishStopWaypoints()
+{
+  nav_msgs::Path path;
+  geometry_msgs::PoseStamped pose;  // stop path
+  pose.header.stamp = ros::Time::now();
+  pose.header.frame_id = current_pose_global_.header.frame_id;
+  pose.pose = current_pose_global_.pose;
+  path.poses.push_back(pose);
+  publishWaypoints(path, 0.0);
+}
diff --git a/ros/src/computing/planning/mission/packages/freespace_planner/src/astar_navi/astar_navi_node.cpp b/ros/src/computing/planning/mission/packages/freespace_planner/src/astar_navi/astar_navi_node.cpp
new file mode 100644
index 00000000000..65c49a3335c
--- /dev/null
+++ b/ros/src/computing/planning/mission/packages/freespace_planner/src/astar_navi/astar_navi_node.cpp
@@ -0,0 +1,25 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "freespace_planner/astar_navi.h"
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "astar_navi");
+  AstarNavi node;
+  node.run();
+  return 0;
+}
diff --git a/ros/src/computing/planning/motion/packages/astar_planner/CMakeLists.txt b/ros/src/computing/planning/motion/packages/astar_planner/CMakeLists.txt
deleted file mode 100644
index 9c40db28d6c..00000000000
--- a/ros/src/computing/planning/motion/packages/astar_planner/CMakeLists.txt
+++ /dev/null
@@ -1,66 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(astar_planner)
-
-
-find_package(autoware_build_flags REQUIRED)
-
-find_package(autoware_msgs REQUIRED)
-
-find_package(vector_map REQUIRED)
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  std_msgs
-  pcl_ros
-  pcl_conversions
-  tf
-  waypoint_follower
-  autoware_msgs 
-  autoware_health_checker
-)
-
-###################################
-## catkin specific configuration ##
-###################################
-catkin_package(
-  CATKIN_DEPENDS roscpp std_msgs tf waypoint_follower autoware_msgs vector_map
-)
-
-###########
-## Build ##
-###########
-
-SET(CMAKE_CXX_FLAGS "-O2 -g -Wall ${CMAKE_CXX_FLAGS}")
-
-include_directories(
-  ${catkin_INCLUDE_DIRS}
-  ${vector_map_INCLUDE_DIRS}
-  ${autoware_msgs_INCLUDE_DIRS}
-)
-
-add_executable(velocity_set nodes/velocity_set/velocity_set.cpp nodes/velocity_set/velocity_set_path.cpp nodes/velocity_set/velocity_set_info.cpp nodes/velocity_set/libvelocity_set.cpp)
-target_link_libraries(velocity_set ${catkin_LIBRARIES})
-add_dependencies(velocity_set 
-${catkin_EXPORTED_TARGETS})
-
-add_executable(obstacle_avoid nodes/obstacle_avoid/obstacle_avoid.cpp nodes/obstacle_avoid/astar_search.cpp nodes/obstacle_avoid/search_info_ros.cpp nodes/obstacle_avoid/astar_util.cpp)
-target_link_libraries(obstacle_avoid ${catkin_LIBRARIES})
-add_dependencies(obstacle_avoid ${catkin_EXPORTED_TARGETS})
-
-add_executable(obstacle_sim nodes/obstacle_avoid/obstacle_sim/obstacle_sim.cpp nodes/obstacle_avoid/obstacle_sim/obstacle_sim_node.cpp)
-target_link_libraries(obstacle_sim ${catkin_LIBRARIES})
-add_dependencies(obstacle_sim ${catkin_EXPORTED_TARGETS})
-
-
-install(TARGETS
-            velocity_set
-            obstacle_avoid
-            obstacle_sim
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-
-
-install(DIRECTORY launch/
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
-        PATTERN ".svn" EXCLUDE)
-
diff --git a/ros/src/computing/planning/motion/packages/astar_planner/launch/obstacle_avoid.launch b/ros/src/computing/planning/motion/packages/astar_planner/launch/obstacle_avoid.launch
deleted file mode 100644
index 7feaa093c0c..00000000000
--- a/ros/src/computing/planning/motion/packages/astar_planner/launch/obstacle_avoid.launch
+++ /dev/null
@@ -1,75 +0,0 @@
-<launch>
-
-  <arg name="use_2dnav_goal" default="false" />
-  <arg name="map_frame" default="map" />
-  <arg name="angle_size" default="42" />
-  <arg name="minimum_turning_radius" default="5.5" />
-  <arg name="obstacle_threshold" default="70" />
-  <arg name="robot_length" default="5.0" />
-  <arg name="robot_width" default="4.0" />
-  <arg name="base2back" default="0.8" />
-  <arg name="curve_weight" default="1.00" />
-  <arg name="reverse_weight" default="2.50" />
-  <arg name="distance_heuristic_weight" default="1.0" />
-  <arg name="potential_weight" default="10.0" />
-  <arg name="lateral_goal_range" default="0.5" /> <!-- meter -->
-  <arg name="longitudinal_goal_range" default="2.0" /> <!-- meter -->
-  <arg name="goal_angle_range" default="48.0" /> <!-- degree -->
-  <arg name="time_limit" default="5.0" />
-  <arg name="use_back" default="false" />
-  <arg name="use_wavefront_heuristic" default="false" />
-  <arg name="use_potential_heuristic" default="true" />
-  <arg name="publish_marker" default="true" />
-
-  <!-- params for search_info -->
-  <arg name="obstacle_detect_count" default="8" />
-  <arg name="avoid_distance" default="13" />
-  <arg name="avoid_velocity_limit_mps" default="4.5" />
-  <arg name="upper_bound_ratio" default="1.20" />
-  <arg name="avoidance" default="true" /> <!-- always avoid regardless of current state -->
-  <arg name="switch_path" default="true" /> <!-- generate avoiding path and follow it -->
-  
-  <node pkg="astar_planner" type="obstacle_avoid" name="obstacle_avoid" output="log">
-    <param name="use_2dnav_goal" value="$(arg use_2dnav_goal)" />
-    <param name="map_frame" value="$(arg map_frame)" />
-    <param name="angle_size" value="$(arg angle_size)" />
-    <param name="minimum_turning_radius" value="$(arg minimum_turning_radius)" />
-    <param name="obstacle_threshold" value="$(arg obstacle_threshold)" />
-    <param name="use_back" value="$(arg use_back)" />
-    <param name="robot_length" value="$(arg robot_length)" />
-    <param name="robot_width" value="$(arg robot_width)" />
-    <param name="base2back" value="$(arg base2back)" />
-    <param name="curve_weight" value="$(arg curve_weight)" />
-    <param name="reverse_weight" value="$(arg reverse_weight)" />
-    <param name="distance_heuristic_weight" value="$(arg distance_heuristic_weight)" />
-    <param name="potential_weight" value="$(arg potential_weight)" />
-    <param name="time_limit" value="$(arg time_limit)" />
-    <param name="lateral_goal_range" value="$(arg lateral_goal_range)" />
-    <param name="longitudinal_goal_range" value="$(arg longitudinal_goal_range)" />
-    <param name="goal_angle_range" value="$(arg goal_angle_range)" />
-    <param name="use_wavefront_heuristic" value="$(arg use_wavefront_heuristic)" />
-    <param name="use_potential_heuristic" value="$(arg use_potential_heuristic)" />
-    <param name="publish_marker" value="$(arg publish_marker)" />
-
-    <param name="obstacle_detect_count" value="$(arg obstacle_detect_count)" />
-    <param name="avoid_distance" value="$(arg avoid_distance)" />
-    <param name="avoid_velocity_limit_mps" value="$(arg avoid_velocity_limit_mps)" />
-    <param name="upper_bound_ratio" value="$(arg upper_bound_ratio)" />
-    <param name="avoidance" value="$(arg avoidance)" />
-    <param name="change_path" value="$(arg switch_path)" />
-  </node>
-
-  <!-- obstacle simulation node -->
-  <arg name="obstacle_height" default="1.0" />
-  <arg name="obstacle_width" default="1.0" />
-  <arg name="points_interval" default="0.1" />
-  <arg name="obstacle_frame" default="/velodyne" />
-
-  <node pkg="astar_planner" type="obstacle_sim" name="obstacle_sim" output="screen">
-    <param name="obstacle_height" value="$(arg obstacle_height)" />
-    <param name="obstacle_width" value="$(arg obstacle_width)" />
-    <param name="points_interval" value="$(arg points_interval)" />
-    <param name="obstacle_frame" value="$(arg obstacle_frame)" />
-  </node>
-
-</launch>
diff --git a/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/astar_search.cpp b/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/astar_search.cpp
deleted file mode 100644
index 773dce3387d..00000000000
--- a/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/astar_search.cpp
+++ /dev/null
@@ -1,881 +0,0 @@
-/*
- * Copyright 2015-2019 Autoware Foundation. All rights reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "astar_search.h"
-
-namespace astar_planner
-{
-AstarSearch::AstarSearch() : node_initialized_(false), upper_bound_distance_(-1)
-{
-  ros::NodeHandle private_nh_("~");
-  private_nh_.param<bool>("use_2dnav_goal", use_2dnav_goal_, true);
-  private_nh_.param<std::string>("map_frame", map_frame_, "map");
-  private_nh_.param<int>("angle_size", angle_size_, 48);
-  private_nh_.param<double>("minimum_turning_radius", minimum_turning_radius_, 5.1);
-  private_nh_.param<int>("obstacle_threshold", obstacle_threshold_, 80);
-  private_nh_.param<bool>("use_back", use_back_, true);
-  private_nh_.param<double>("robot_length", robot_length_, 4.5);
-  private_nh_.param<double>("robot_width", robot_width_, 1.75);
-  private_nh_.param<double>("base2back", base2back_, 0.8);
-  private_nh_.param<double>("curve_weight", curve_weight_, 1.05);
-  private_nh_.param<double>("reverse_weight", reverse_weight_, 2.00);
-  private_nh_.param<double>("distance_heuristic_weight", distance_heuristic_weight_, 1.00);
-  private_nh_.param<double>("potential_weight", potential_weight_, 10.0);
-  private_nh_.param<bool>("use_wavefront_heuristic", use_wavefront_heuristic_, false);
-  private_nh_.param<bool>("use_potential_heuristic", use_potential_heuristic_, true);
-  private_nh_.param<double>("time_limit", time_limit_, 10.0);
-  private_nh_.param<double>("lateral_goal_range", lateral_goal_range_, 0.5);
-  private_nh_.param<double>("longitudinal_goal_range", longitudinal_goal_range_, 2.0);
-  private_nh_.param<double>("goal_angle_range", goal_angle_range_, 24.0);
-  private_nh_.param<bool>("publish_marker", publish_marker_, false);
-
-  createStateUpdateTableLocal(angle_size_);
-}
-
-AstarSearch::~AstarSearch()
-{
-}
-
-void AstarSearch::initializeNode(const nav_msgs::OccupancyGrid &map)
-{
-  int height = map.info.height;
-  int width = map.info.width;
-
-  nodes_.resize(height);
-
-  for (int i = 0; i < height; i++)
-    nodes_[i].resize(width);
-
-  for (int i = 0; i < height; i++)
-    for (int j = 0; j < width; j++)
-      nodes_[i][j].resize(angle_size_);
-
-  node_initialized_ = true;
-}
-
-void AstarSearch::poseToIndex(const geometry_msgs::Pose &pose, int *index_x, int *index_y, int *index_theta)
-{
-  *index_x = pose.position.x / map_info_.resolution;
-  *index_y = pose.position.y / map_info_.resolution;
-
-  tf::Quaternion quat;
-  tf::quaternionMsgToTF(pose.orientation, quat);
-  double yaw = tf::getYaw(quat);
-  if (yaw < 0)
-    yaw += 2 * M_PI;
-
-  // Descretize angle
-  static double one_angle_range = 2 * M_PI / angle_size_;
-  *index_theta = yaw / one_angle_range;
-  *index_theta %= angle_size_;
-}
-
-// state update table for local hybrid astar
-// five (for now) expansion to forward for each update
-void AstarSearch::createStateUpdateTableLocal(int angle_size)
-{
-  // Vehicle moving for each angle
-  state_update_table_.resize(angle_size);
-
-  // the number of steering actions
-  int max_action_num = 9;
-  for (int i = 0; i < angle_size; i++)
-    state_update_table_[i].reserve(max_action_num);
-
-  // Minimum moving distance with one state update
-  //     arc  = r                       * theta
-  double step = minimum_turning_radius_ * (2.0 * M_PI / angle_size_);
-
-  for (int i = 0; i < angle_size; i++)
-  {
-    double descretized_angle = 2.0 * M_PI / angle_size;
-    double robot_angle = descretized_angle * i;
-
-    // Calculate right and left circle
-    // Robot moves along these circles
-    double right_circle_center_x = minimum_turning_radius_ * std::sin(robot_angle);
-    double right_circle_center_y = minimum_turning_radius_ * std::cos(robot_angle) * -1.0;
-    double left_circle_center_x = right_circle_center_x * -1.0;
-    double left_circle_center_y = right_circle_center_y * -1.0;
-
-    NodeUpdate nu;
-
-    // Calculate x and y shift to next state
-    // forward
-    nu.shift_x = step * std::cos(robot_angle);
-    nu.shift_y = step * std::sin(robot_angle);
-    nu.rotation = 0;
-    nu.index_theta = 0;
-    nu.step = step;
-    nu.curve = false;
-    nu.back = false;
-    state_update_table_[i].emplace_back(nu);
-
-    /*
-    // forward right max
-    nu.shift_x     = right_circle_center_x + minimum_turning_radius_ * std::cos(M_PI_2 + robot_angle -
-    descretized_angle);
-    nu.shift_y     = right_circle_center_y + minimum_turning_radius_ * std::sin(M_PI_2 + robot_angle -
-    descretized_angle);
-    nu.rotation    = descretized_angle * -1.0;
-    nu.index_theta = -1;
-    nu.step        = step;
-    nu.curve       = true;
-    nu.back        = false;
-    state_update_table_[i].emplace_back(nu);
-
-    // forward left max
-    nu.shift_x     = left_circle_center_x + minimum_turning_radius_ * std::cos(-1.0 * M_PI_2 + robot_angle +
-    descretized_angle);
-    nu.shift_y     = left_circle_center_y + minimum_turning_radius_ * std::sin(-1.0 * M_PI_2 + robot_angle +
-    descretized_angle);
-    nu.rotation    = descretized_angle;
-    nu.index_theta = 1;
-    nu.step        = step;
-    nu.curve       = true;
-    nu.back        = false;
-    state_update_table_[i].emplace_back(nu);
-    */
-
-    // forward right medium
-    nu.shift_x =
-        right_circle_center_x * 2 + minimum_turning_radius_ * 2 * std::cos(M_PI_2 + robot_angle - descretized_angle);
-    nu.shift_y =
-        right_circle_center_y * 2 + minimum_turning_radius_ * 2 * std::sin(M_PI_2 + robot_angle - descretized_angle);
-    nu.rotation = descretized_angle * -1.0;
-    nu.index_theta = -1;
-    nu.step = step * 2;
-    nu.curve = true;
-    nu.back = false;
-    state_update_table_[i].emplace_back(nu);
-
-    // forward left medium
-    nu.shift_x = left_circle_center_x * 2 +
-                 minimum_turning_radius_ * 2 * std::cos(-1.0 * M_PI_2 + robot_angle + descretized_angle);
-    nu.shift_y = left_circle_center_y * 2 +
-                 minimum_turning_radius_ * 2 * std::sin(-1.0 * M_PI_2 + robot_angle + descretized_angle);
-    nu.rotation = descretized_angle;
-    nu.index_theta = 1;
-    nu.step = step * 2;
-    nu.curve = true;
-    nu.back = false;
-    state_update_table_[i].emplace_back(nu);
-
-    /*
-    // forward right max
-    nu.shift_x     = right_circle_center_x + minimum_turning_radius_ * std::cos(M_PI_2 + robot_angle - descretized_angle
-    * 2);
-    nu.shift_y     = right_circle_center_y + minimum_turning_radius_ * std::sin(M_PI_2 + robot_angle - descretized_angle
-    * 2);
-    nu.rotation    = descretized_angle * 2 * -1.0;
-    nu.index_theta = -2;
-    nu.step        = step * 2;
-    nu.curve       = true;
-    nu.back        = false;
-    state_update_table_[i].emplace_back(nu);
-
-    // forward left max
-    nu.shift_x     = left_circle_center_x + minimum_turning_radius_ * std::cos(-1.0 * M_PI_2 + robot_angle +
-    descretized_angle * 2);
-    nu.shift_y     = left_circle_center_y + minimum_turning_radius_ * std::sin(-1.0 * M_PI_2 + robot_angle +
-    descretized_angle * 2);
-    nu.rotation    = descretized_angle * 2;
-    nu.index_theta = 2;
-    nu.step        = step * 2;
-    nu.curve       = true;
-    nu.back        = false;
-    state_update_table_[i].emplace_back(nu);
-    */
-  }
-}
-//---
-
-bool AstarSearch::isOutOfRange(int index_x, int index_y)
-{
-  if (index_x < 0 || index_x >= static_cast<int>(map_info_.width) || index_y < 0 ||
-      index_y >= static_cast<int>(map_info_.height))
-    return true;
-
-  return false;
-}
-
-void AstarSearch::displayFootprint(const nav_msgs::Path &path)
-{
-  visualization_msgs::Marker marker;
-  marker.header.frame_id = "/map";
-  marker.header.stamp = ros::Time();
-  marker.ns = "footprint";
-  marker.id = 0;
-  marker.type = visualization_msgs::Marker::CUBE;
-  marker.action = visualization_msgs::Marker::ADD;
-
-  marker.scale.x = robot_length_;
-  marker.scale.y = robot_width_;
-  marker.scale.z = 2.0;
-  marker.color.a = 0.3;
-  marker.color.r = 0.0;
-  marker.color.g = 1.0;
-  marker.color.b = 0.0;
-  marker.frame_locked = true;
-
-  visualization_msgs::MarkerArray marker_array;
-  for (const auto &p : path.poses)
-  {
-    marker.pose = p.pose;
-    marker_array.markers.push_back(marker);
-    marker.id += 1;
-  }
-
-  footprint_pub_.publish(marker_array);
-}
-
-void AstarSearch::setPath(const SimpleNode &goal)
-{
-  std_msgs::Header header;
-  header.stamp = ros::Time::now();
-  header.frame_id = map_frame_;
-  path_.header = header;
-
-  // From the goal node to the start node
-  AstarNode *node = &nodes_[goal.index_y][goal.index_x][goal.index_theta];
-
-  while (node != NULL)
-  {
-    // Set tf pose
-    tf::Vector3 origin(node->x, node->y, 0);
-    tf::Pose tf_pose;
-    tf_pose.setOrigin(origin);
-    tf_pose.setRotation(tf::createQuaternionFromYaw(node->theta));
-
-    // Transform path to global frame
-    tf_pose = map2ogm_ * tf_pose;
-
-    // Set path as ros message
-    geometry_msgs::PoseStamped ros_pose;
-    tf::poseTFToMsg(tf_pose, ros_pose.pose);
-    ros_pose.header = header;
-    path_.poses.push_back(ros_pose);
-
-    // To the next node
-    node = node->parent;
-  }
-
-  // Reverse the vector to be start to goal order
-  std::reverse(path_.poses.begin(), path_.poses.end());
-
-  if (publish_marker_)
-    displayFootprint(path_);
-}
-
-// Check if the next state is the goal
-// Check lateral offset, longitudinal offset and angle
-bool AstarSearch::isGoal(double x, double y, double theta)
-{
-  // To reduce computation time, we use square value for distance
-  static const double lateral_goal_range =
-      lateral_goal_range_ / 2.0;  // [meter], divide by 2 means we check left and right
-  static const double longitudinal_goal_range =
-      longitudinal_goal_range_ / 2.0;                                         // [meter], check only behind of the goal
-  static const double goal_angle = M_PI * (goal_angle_range_ / 2.0) / 180.0;  // degrees -> radian
-
-  // Calculate the node coordinate seen from the goal point
-  tf::Point p(x, y, 0);
-  geometry_msgs::Point relative_node_point = astar_planner::calcRelativeCoordinate(goal_pose_local_.pose, p);
-
-  // Check Pose of goal
-  if (relative_node_point.x < 0 &&  // shoud be behind of goal
-      std::fabs(relative_node_point.x) < longitudinal_goal_range &&
-      std::fabs(relative_node_point.y) < lateral_goal_range)
-  {
-    // Check the orientation of goal
-    if (astar_planner::calcDiffOfRadian(goal_yaw_, theta) < goal_angle)
-      return true;
-  }
-
-  return false;
-}
-
-bool AstarSearch::isObs(int index_x, int index_y)
-{
-  if (nodes_[index_y][index_x][0].status == STATUS::OBS)
-    return true;
-
-  return false;
-}
-
-bool AstarSearch::detectCollision(const SimpleNode &sn)
-{
-  // Define the robot as rectangle
-  static double left = -1.0 * base2back_;
-  static double right = robot_length_ - base2back_;
-  static double top = robot_width_ / 2.0;
-  static double bottom = -1.0 * robot_width_ / 2.0;
-  static double resolution = map_info_.resolution;
-
-  // Coordinate of base_link in OccupancyGrid frame
-  static double one_angle_range = 2.0 * M_PI / angle_size_;
-  double base_x = sn.index_x * resolution;
-  double base_y = sn.index_y * resolution;
-  double base_theta = sn.index_theta * one_angle_range;
-
-  // Calculate cos and sin in advance
-  double cos_theta = std::cos(base_theta);
-  double sin_theta = std::sin(base_theta);
-
-  // Convert each point to index and check if the node is Obstacle
-  for (double x = left; x < right; x += resolution)
-  {
-    for (double y = top; y > bottom; y -= resolution)
-    {
-      // 2D point rotation
-      int index_x = (x * cos_theta - y * sin_theta + base_x) / resolution;
-      int index_y = (x * sin_theta + y * cos_theta + base_y) / resolution;
-
-      if (isOutOfRange(index_x, index_y))
-        return true;
-      if (nodes_[index_y][index_x][0].status == STATUS::OBS)
-        return true;
-    }
-  }
-
-  return false;
-}
-
-bool AstarSearch::calcWaveFrontHeuristic(const SimpleNode &sn)
-{
-  // Set start point for wavefront search
-  // This is goal for Astar search
-  nodes_[sn.index_y][sn.index_x][0].hc = 0;
-  WaveFrontNode wf_node(sn.index_x, sn.index_y, 1e-10);
-  std::queue<WaveFrontNode> qu;
-  qu.push(wf_node);
-
-  // State update table for wavefront search
-  // Nodes are expanded for each neighborhood cells (moore neighborhood)
-  double resolution = map_info_.resolution;
-  static std::vector<WaveFrontNode> updates = {
-    astar_planner::getWaveFrontNode(0, 1, resolution), astar_planner::getWaveFrontNode(-1, 0, resolution),
-    astar_planner::getWaveFrontNode(1, 0, resolution), astar_planner::getWaveFrontNode(0, -1, resolution),
-    astar_planner::getWaveFrontNode(-1, 1, std::hypot(resolution, resolution)),
-    astar_planner::getWaveFrontNode(1, 1, std::hypot(resolution, resolution)),
-    astar_planner::getWaveFrontNode(-1, -1, std::hypot(resolution, resolution)),
-    astar_planner::getWaveFrontNode(1, -1, std::hypot(resolution, resolution)),
-  };
-
-  // Get start index
-  int start_index_x;
-  int start_index_y;
-  int start_index_theta;
-  poseToIndex(start_pose_local_.pose, &start_index_x, &start_index_y, &start_index_theta);
-
-  // Whether the robot can reach goal
-  bool reachable = false;
-
-  // Start wavefront search
-  while (!qu.empty())
-  {
-    WaveFrontNode ref = qu.front();
-    qu.pop();
-
-    WaveFrontNode next;
-    for (const auto &u : updates)
-    {
-      next.index_x = ref.index_x + u.index_x;
-      next.index_y = ref.index_y + u.index_y;
-
-      // out of range OR already visited OR obstacle node
-      if (isOutOfRange(next.index_x, next.index_y) || nodes_[next.index_y][next.index_x][0].hc > 0 ||
-          nodes_[next.index_y][next.index_x][0].status == STATUS::OBS)
-        continue;
-
-      // Take the size of robot into account
-      if (detectCollisionWaveFront(next))
-        continue;
-
-      // Check if we can reach from start to goal
-      if (next.index_x == start_index_x && next.index_y == start_index_y)
-        reachable = true;
-
-      // Set wavefront heuristic cost
-      next.hc = ref.hc + u.hc;
-      nodes_[next.index_y][next.index_x][0].hc = next.hc;
-
-      qu.push(next);
-    }
-  }
-
-  // End of search
-  return reachable;
-}
-
-// Simple collidion detection for wavefront search
-bool AstarSearch::detectCollisionWaveFront(const WaveFrontNode &ref)
-{
-  // Define the robot as square
-  static double half = robot_width_ / 2;
-  double robot_x = ref.index_x * map_info_.resolution;
-  double robot_y = ref.index_y * map_info_.resolution;
-
-  for (double y = half; y > -1.0 * half; y -= map_info_.resolution)
-  {
-    for (double x = -1.0 * half; x < half; x += map_info_.resolution)
-    {
-      int index_x = (robot_x + x) / map_info_.resolution;
-      int index_y = (robot_y + y) / map_info_.resolution;
-
-      if (isOutOfRange(index_x, index_y))
-        return true;
-
-      if (nodes_[index_y][index_x][0].status == STATUS::OBS)
-        return true;
-    }
-  }
-
-  return false;
-}
-
-void AstarSearch::reset()
-{
-  path_.poses.clear();
-  debug_poses_.poses.clear();
-
-  // Clear queue
-  std::priority_queue<SimpleNode, std::vector<SimpleNode>, std::greater<SimpleNode>> empty;
-  std::swap(openlist_, empty);
-
-  ros::WallTime begin = ros::WallTime::now();
-
-  // Reset node info here ...?
-  for (size_t i = 0; i < map_info_.height; i++)
-  {
-    for (size_t j = 0; j < map_info_.width; j++)
-    {
-      for (int k = 0; k < angle_size_; k++)
-      {
-        // other values will be updated during the search
-        nodes_[i][j][k].status = STATUS::NONE;
-        nodes_[i][j][k].hc = 0;
-      }
-    }
-  }
-
-  ros::WallTime end = ros::WallTime::now();
-
-  ROS_INFO("reset time: %lf [ms]", (end - begin).toSec() * 1000);
-}
-
-void AstarSearch::setMap(const nav_msgs::OccupancyGrid &map)
-{
-  map_info_ = map.info;
-
-  std::string map_frame = map_frame_;
-  std::string ogm_frame = map.header.frame_id;
-  // Set transform
-  tf::StampedTransform map2ogm_frame;
-  try
-  {
-    tf_listener_.lookupTransform(map_frame, ogm_frame, ros::Time(0), map2ogm_frame);
-  }
-  catch (tf::TransformException ex)
-  {
-    ROS_ERROR("%s", ex.what());
-    return;
-  }
-
-  tf::Transform map2ogm;
-  geometry_msgs::Pose ogm_in_map = astar_planner::transformPose(map_info_.origin, map2ogm_frame);
-  tf::poseMsgToTF(ogm_in_map, map2ogm_);
-
-  for (size_t i = 0; i < map.info.height; i++)
-  {
-    for (size_t j = 0; j < map.info.width; j++)
-    {
-      // Index of subscribing OccupancyGrid message
-      size_t og_index = i * map.info.width + j;
-      int cost = map.data[og_index];
-
-      // hc is set to be 0 when reset()
-      if (cost == 0)
-        continue;
-
-      if (use_potential_heuristic_)
-      {
-        // the cost more than threshold is regarded almost same as an obstacle
-        // because of its very high cost
-        if (cost > obstacle_threshold_)
-          nodes_[i][j][0].status = STATUS::OBS;
-        else
-          nodes_[i][j][0].hc = cost * potential_weight_;
-      }
-
-      // obstacle or unknown area
-      if (cost == 100 || cost < 0)
-        nodes_[i][j][0].status = STATUS::OBS;
-    }
-  }
-}
-
-bool AstarSearch::setStartNode()
-{
-  // Get index of start pose
-  int index_x;
-  int index_y;
-  int index_theta;
-  poseToIndex(start_pose_local_.pose, &index_x, &index_y, &index_theta);
-  SimpleNode start_sn(index_x, index_y, index_theta, 0, 0);
-
-  // Check if start is valid
-  if (isOutOfRange(index_x, index_y) || detectCollision(start_sn))
-    return false;
-
-  // Set start node
-  AstarNode &start_node = nodes_[index_y][index_x][index_theta];
-  start_node.x = start_pose_local_.pose.position.x;
-  start_node.y = start_pose_local_.pose.position.y;
-  start_node.theta = 2.0 * M_PI / angle_size_ * index_theta;
-  start_node.gc = 0;
-  start_node.move_distance = 0;
-  start_node.back = false;
-  start_node.status = STATUS::OPEN;
-  start_node.parent = NULL;
-
-  // set euclidean distance heuristic cost
-  if (!use_wavefront_heuristic_ && !use_potential_heuristic_)
-    start_node.hc = astar_planner::calcDistance(start_pose_local_.pose.position.x, start_pose_local_.pose.position.y,
-                                                goal_pose_local_.pose.position.x, goal_pose_local_.pose.position.y) *
-                    distance_heuristic_weight_;
-
-  if (use_potential_heuristic_)
-  {
-    start_node.gc += start_node.hc;
-    start_node.hc += astar_planner::calcDistance(start_pose_local_.pose.position.x, start_pose_local_.pose.position.y,
-                                                 goal_pose_local_.pose.position.x, goal_pose_local_.pose.position.y) +
-                     distance_heuristic_weight_;
-  }
-
-  // Push start node to openlist
-  start_sn.cost = start_node.gc + start_node.hc;
-  openlist_.push(start_sn);
-  return true;
-}
-
-bool AstarSearch::setGoalNode()
-{
-  goal_yaw_ = astar_planner::modifyTheta(tf::getYaw(goal_pose_local_.pose.orientation));
-
-  // Get index of goal pose
-  int index_x;
-  int index_y;
-  int index_theta;
-  poseToIndex(goal_pose_local_.pose, &index_x, &index_y, &index_theta);
-
-  debug_poses_.header.frame_id = map_frame_;
-  debug_poses_.poses.push_back(astar_planner::transformPose(goal_pose_local_.pose, map2ogm_));
-  debug_pose_pub_.publish(debug_poses_);
-
-  SimpleNode goal_sn(index_x, index_y, index_theta, 0, 0);
-
-  // Check if goal is valid
-  if (isOutOfRange(index_x, index_y) || detectCollision(goal_sn))
-    return false;
-
-  // Make multiple cells goals
-  // createGoalList(goal_sn);
-
-  // Calculate wavefront heuristic cost
-  if (use_wavefront_heuristic_)
-  {
-    auto start = std::chrono::system_clock::now();
-
-    bool wavefront_result = calcWaveFrontHeuristic(goal_sn);
-
-    auto end = std::chrono::system_clock::now();
-    auto usec = std::chrono::duration_cast<std::chrono::microseconds>(end - start).count();
-    std::cout << "wavefront : " << usec / 1000.0 << "[msec]" << std::endl;
-
-    if (!wavefront_result)
-    {
-      ROS_WARN("reachable is false...");
-      return false;
-    }
-  }
-
-  return true;
-}
-
-bool AstarSearch::search()
-{
-  ros::WallTime timer_begin = ros::WallTime::now();
-
-  // Start A* search
-  // If the openlist is empty, search failed
-  while (!openlist_.empty())
-  {
-    // Check time and terminate if the search reaches the time limit
-    ros::WallTime timer_end = ros::WallTime::now();
-    double msec = (timer_end - timer_begin).toSec() * 1000.0;
-    if (msec > time_limit_)
-    {
-      ROS_WARN("Exceed time limit of %lf [ms]", time_limit_);
-      return false;
-    }
-
-    // Pop minimum cost node from openlist
-    SimpleNode sn;
-    sn = openlist_.top();
-    openlist_.pop();
-
-    // Expand nodes from this node
-    AstarNode *current_node = &nodes_[sn.index_y][sn.index_x][sn.index_theta];
-    current_node->status = STATUS::CLOSED;
-
-    // Goal check
-    if (isGoal(current_node->x, current_node->y, current_node->theta))
-    {
-      ROS_INFO("Search time: %lf [msec]", (timer_end - timer_begin).toSec() * 1000.0);
-
-      setPath(sn);
-      return true;
-    }
-
-    if (publish_marker_)
-    {
-      geometry_msgs::Pose p = astar_planner::xytToPoseMsg(current_node->x, current_node->y, current_node->theta);
-      p = astar_planner::transformPose(p, map2ogm_);
-      debug_poses_.poses.push_back(p);
-    }
-
-    // Expand nodes
-    for (const auto &state : state_update_table_[sn.index_theta])
-    {
-      // Next state
-      double next_x = current_node->x + state.shift_x;
-      double next_y = current_node->y + state.shift_y;
-      double next_theta = astar_planner::modifyTheta(current_node->theta + state.rotation);
-      double move_cost = state.step;
-      double move_distance = current_node->move_distance + state.step;
-
-      // Increase reverse cost
-      if (state.back != current_node->back)
-        move_cost *= reverse_weight_;
-
-      // Calculate index of the next state
-      SimpleNode next;
-      next.index_x = next_x / map_info_.resolution;
-      next.index_y = next_y / map_info_.resolution;
-      next.index_theta = sn.index_theta + state.index_theta;
-
-      // Avoid invalid index
-      next.index_theta = (next.index_theta + angle_size_) % angle_size_;
-
-      // Check if the index is valid
-      if (isOutOfRange(next.index_x, next.index_y) || isObs(next.index_x, next.index_y))
-        continue;
-
-      // prunning with upper bound
-      if (upper_bound_distance_ > 0 && move_distance > upper_bound_distance_)
-      {
-        continue;
-      }
-
-      AstarNode *next_node = &nodes_[next.index_y][next.index_x][next.index_theta];
-      double next_gc = current_node->gc + move_cost;
-      double next_hc = nodes_[next.index_y][next.index_x][0].hc;  // wavefront or distance transform heuristic
-
-      // increase the cost with euclidean distance
-      if (use_potential_heuristic_)
-      {
-        next_gc += nodes_[next.index_y][next.index_x][0].hc;
-        next_hc += astar_planner::calcDistance(next_x, next_y, goal_pose_local_.pose.position.x,
-                                               goal_pose_local_.pose.position.y) *
-                   distance_heuristic_weight_;
-      }
-
-      // increase the cost with euclidean distance
-      if (!use_wavefront_heuristic_ && !use_potential_heuristic_)
-        next_hc = astar_planner::calcDistance(next_x, next_y, goal_pose_local_.pose.position.x,
-                                              goal_pose_local_.pose.position.y) *
-                  distance_heuristic_weight_;
-
-      // NONE
-      if (next_node->status == STATUS::NONE)
-      {
-        next_node->status = STATUS::OPEN;
-        next_node->x = next_x;
-        next_node->y = next_y;
-        next_node->theta = next_theta;
-        next_node->gc = next_gc;
-        next_node->hc = next_hc;
-        next_node->move_distance = move_distance;
-        next_node->back = state.back;
-        next_node->parent = current_node;
-
-        next.cost = next_node->gc + next_node->hc;
-        openlist_.push(next);
-        continue;
-      }
-
-      // OPEN or CLOSED
-      if (next_node->status == STATUS::OPEN || next_node->status == STATUS::CLOSED)
-      {
-        if (next_gc < next_node->gc)
-        {
-          next_node->status = STATUS::OPEN;
-          next_node->x = next_x;
-          next_node->y = next_y;
-          next_node->theta = next_theta;
-          next_node->gc = next_gc;
-          next_node->hc = next_hc;  // already calculated ?
-          next_node->move_distance = move_distance;
-          next_node->back = state.back;
-          next_node->parent = current_node;
-
-          next.cost = next_node->gc + next_node->hc;
-          openlist_.push(next);
-          continue;
-        }
-      }
-
-    }  // state update
-  }
-
-  // Failed to find path
-  ROS_INFO("Open list is empty...");
-  return false;
-}
-
-bool AstarSearch::makePlan(const geometry_msgs::Pose &start_pose, const geometry_msgs::Pose &goal_pose,
-                           const nav_msgs::OccupancyGrid &map, double upper_bound_distance)
-{
-  start_pose_local_.pose = start_pose;
-  goal_pose_local_.pose = goal_pose;
-  upper_bound_distance_ = upper_bound_distance;
-
-  ROS_INFO("Prunning with upper bound %lf", upper_bound_distance_);
-
-  ros::WallTime begin = ros::WallTime::now();
-  setMap(map);
-  ros::WallTime end = ros::WallTime::now();
-  std::cout << "set map time: " << (end - begin).toSec() * 1000 << "[ms]" << std::endl;
-
-  if (!setStartNode())
-  {
-    ROS_WARN("Invalid start pose!");
-    return false;
-  }
-
-  if (!setGoalNode())
-  {
-    ROS_WARN("Invalid goal pose!");
-    return false;
-  }
-
-  bool result = search();
-
-  if (publish_marker_)
-    debug_pose_pub_.publish(debug_poses_);
-
-  return result;
-}
-
-// Allow two goals (reach goal2 via goal1)
-bool AstarSearch::makePlan(const geometry_msgs::Pose &start_pose, const geometry_msgs::Pose &transit_pose,
-                           const geometry_msgs::Pose &goal_pose, const nav_msgs::OccupancyGrid &map,
-                           double upper_bound_distance)
-{
-  start_pose_local_.pose = start_pose;
-  goal_pose_local_.pose = transit_pose;
-
-  auto start = std::chrono::system_clock::now();
-  setMap(map);
-  auto end = std::chrono::system_clock::now();
-  auto usec = std::chrono::duration_cast<std::chrono::microseconds>(end - start).count();
-  std::cout << "set map: " << usec / 1000.0 << std::endl;
-
-  if (!setStartNode())
-  {
-    ROS_WARN("Invalid start pose!");
-    return false;
-  }
-
-  if (!setGoalNode())
-  {
-    ROS_WARN("Invalid goal pose!");
-    return false;
-  }
-
-  // First search from start to a transit point
-  bool result = search();
-
-  if (publish_marker_)
-    debug_pose_pub_.publish(debug_poses_);
-
-  if (!result)
-    return false;
-
-  // Prepare for the second search
-  nav_msgs::Path start2transit = path_;
-  reset();
-
-  start_pose_local_.pose = transit_pose;
-  goal_pose_local_.pose = goal_pose;
-
-  if (!setStartNode())
-  {
-    ROS_WARN("Invalid start pose!");
-    return false;
-  }
-
-  if (!setGoalNode())
-  {
-    ROS_WARN("Invalid goal pose!");
-    return false;
-  }
-
-  // second search from a transit point to goal
-  result = search();
-
-  // join two paths
-  path_.poses.reserve(start2transit.poses.size() + path_.poses.size());
-  path_.poses.insert(path_.poses.begin(), start2transit.poses.begin(), start2transit.poses.end());
-
-  if (publish_marker_)
-    debug_pose_pub_.publish(debug_poses_);
-
-  return result;
-}
-
-void AstarSearch::broadcastPathTF()
-{
-  tf::Transform transform;
-
-  // Broadcast from start pose to goal pose
-  for (int i = path_.poses.size() - 1; i >= 0; i--)
-  {
-    tf::Quaternion quat;
-    tf::quaternionMsgToTF(path_.poses[i].pose.orientation, quat);
-    transform.setOrigin(
-        tf::Vector3(path_.poses[i].pose.position.x, path_.poses[i].pose.position.y, path_.poses[i].pose.position.z));
-    transform.setRotation(quat);
-
-    tf_broadcaster_.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "/map", "/astar_path"));
-
-    // sleep 0.1 [sec]
-    usleep(100000);
-  }
-}
-
-}  // namespace astar_planner
diff --git a/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/astar_search.h b/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/astar_search.h
deleted file mode 100644
index 401720c569f..00000000000
--- a/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/astar_search.h
+++ /dev/null
@@ -1,137 +0,0 @@
-/*
- * Copyright 2015-2019 Autoware Foundation. All rights reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef ASTAR_NAVI_NODE_H
-#define ASTAR_NAVI_NODE_H
-
-#include "astar_util.h"
-#include <ros/ros.h>
-#include <nav_msgs/OccupancyGrid.h>
-#include <geometry_msgs/PoseArray.h>
-#include <nav_msgs/Path.h>
-#include <tf/transform_broadcaster.h>
-#include <tf/transform_listener.h>
-
-#include <visualization_msgs/MarkerArray.h>
-#include <iostream>
-#include <vector>
-#include <queue>
-#include <string>
-#include <chrono>
-
-namespace astar_planner
-{
-class AstarSearch
-{
-public:
-  AstarSearch();
-  ~AstarSearch();
-
-  bool makePlan(const geometry_msgs::Pose &start_pose, const geometry_msgs::Pose &goal_pose,
-                const nav_msgs::OccupancyGrid &map, const double upper_bound_distance = -1);
-  bool makePlan(const geometry_msgs::Pose &start_pose, const geometry_msgs::Pose &transit_pose,
-                const geometry_msgs::Pose &goal_pose, const nav_msgs::OccupancyGrid &map,
-                const double upper_bound_distance = -1);
-  void reset();
-  // void initializeNode(int width, int height, int angle_size);
-  void initializeNode(const nav_msgs::OccupancyGrid &map);
-  void broadcastPathTF();
-  bool getNodeInitialized() const
-  {
-    return node_initialized_;
-  }
-  nav_msgs::Path getPath() const
-  {
-    return path_;
-  }
-
-private:
-  bool search();
-  // void createStateUpdateTable(int angle_size);
-  void createStateUpdateTableLocal(int angle_size);  //
-  void poseToIndex(const geometry_msgs::Pose &pose, int *index_x, int *index_y, int *index_theta);
-  bool isOutOfRange(int index_x, int index_y);
-  void setPath(const SimpleNode &goal);
-  void setMap(const nav_msgs::OccupancyGrid &map);
-  bool setStartNode();
-  bool setGoalNode();
-  bool isGoal(double x, double y, double theta);
-  bool isObs(int index_x, int index_y);
-  bool detectCollision(const SimpleNode &sn);
-  bool calcWaveFrontHeuristic(const SimpleNode &sn);
-  bool detectCollisionWaveFront(const WaveFrontNode &sn);
-
-  // for debug
-  ros::NodeHandle n_;
-  geometry_msgs::PoseArray debug_poses_;
-  ros::Publisher debug_pose_pub_ = n_.advertise<geometry_msgs::PoseArray>("astar_debug_poses", 1, true);
-  ros::Publisher footprint_pub_ = n_.advertise<visualization_msgs::MarkerArray>("astar_footprint", 1, true);
-  void displayFootprint(const nav_msgs::Path &path);
-
-  // ROS param
-  std::string map_frame_;          // publishing path frame
-  int angle_size_;                 // descritized angle size
-  double minimum_turning_radius_;  // varying by vehicles
-  int obstacle_threshold_;         // more than this value is regarded as obstacles
-  bool use_back_;                  // use backward driving
-  double robot_length_;
-  double robot_width_;
-  double base2back_;
-  double curve_weight_;
-  double reverse_weight_;
-  double distance_heuristic_weight_;
-  double potential_weight_;
-  bool use_wavefront_heuristic_;
-  bool use_potential_heuristic_;
-  bool use_2dnav_goal_;
-  double time_limit_;  // msec
-  double lateral_goal_range_;
-  double longitudinal_goal_range_;
-  double goal_angle_range_;
-  bool publish_marker_;
-
-  bool node_initialized_;
-  std::vector<std::vector<NodeUpdate>> state_update_table_;
-  nav_msgs::MapMetaData map_info_;
-  std::vector<std::vector<std::vector<AstarNode>>> nodes_;
-  std::priority_queue<SimpleNode, std::vector<SimpleNode>, std::greater<SimpleNode>> openlist_;
-  std::vector<SimpleNode> goallist_;
-
-  // Pose in global(/map) frame
-  geometry_msgs::PoseStamped start_pose_;
-  geometry_msgs::PoseStamped goal_pose_;
-  double goal_yaw_;
-
-  // Pose in OccupancyGrid frame
-  geometry_msgs::PoseStamped start_pose_local_;
-  geometry_msgs::PoseStamped goal_pose_local_;
-
-  // Transform which converts OccupancyGrid frame to global frame
-  tf::Transform map2ogm_;
-
-  tf::TransformListener tf_listener_;
-  tf::TransformBroadcaster tf_broadcaster_;
-
-  // for prunning
-  double upper_bound_distance_;
-
-  // Searched path
-  nav_msgs::Path path_;
-};
-
-}  // namespace astar_planner
-
-#endif  // ASTAR_NAVI_NODE_H
diff --git a/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/obstacle_avoid.cpp b/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/obstacle_avoid.cpp
deleted file mode 100644
index e04df7bbb5d..00000000000
--- a/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/obstacle_avoid.cpp
+++ /dev/null
@@ -1,230 +0,0 @@
-/*
- * Copyright 2015-2019 Autoware Foundation. All rights reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "astar_search.h"
-#include "search_info_ros.h"
-
-#include <autoware_msgs/LaneArray.h>
-
-namespace
-{
-autoware_msgs::Lane createPublishWaypoints(const autoware_msgs::Lane& ref_lane, int closest_waypoint,
-                                                    int size)
-{
-  autoware_msgs::Lane follow_lane;
-
-  follow_lane.header = ref_lane.header;
-  follow_lane.increment = ref_lane.increment;
-
-  // Push "size" waypoints from closest
-  for (int i = 0; i < size; i++)
-  {
-    if (closest_waypoint + i >= static_cast<int>(ref_lane.waypoints.size()))
-      break;
-
-    follow_lane.waypoints.push_back(ref_lane.waypoints[closest_waypoint + i]);
-  }
-
-  return follow_lane;
-}
-
-void createAvoidWaypoints(const nav_msgs::Path& astar_path, const astar_planner::SearchInfo& search_info, int size,
-                          autoware_msgs::Lane* avoid_lane, int* end_of_avoid_index)
-{
-  int closest_waypoint_index = search_info.getClosestWaypointIndex();
-
-  avoid_lane->waypoints.clear();
-
-  // Get global lane
-  const autoware_msgs::Lane& current_lane = search_info.getCurrentWaypoints();
-  avoid_lane->header = current_lane.header;
-  avoid_lane->increment = current_lane.increment;
-
-  // Set waypoints from closest to beginning of avoiding
-  for (int i = closest_waypoint_index; i < search_info.getStartWaypointIndex(); i++)
-  {
-    avoid_lane->waypoints.push_back(current_lane.waypoints.at(i));
-  }
-
-  double avoid_velocity = avoid_lane->waypoints.back().twist.twist.linear.x;
-
-  if (avoid_velocity > search_info.getAvoidVelocityLimitMPS())
-    avoid_velocity = search_info.getAvoidVelocityLimitMPS();
-
-  // Set waypoints for avoiding
-  for (const auto& pose : astar_path.poses)
-  {
-    autoware_msgs::Waypoint wp;
-    wp.pose = pose;
-    wp.twist.twist.linear.x = avoid_velocity;
-
-    avoid_lane->waypoints.push_back(wp);
-  }
-
-  // To know here is the end of avoiding
-  *end_of_avoid_index = avoid_lane->waypoints.size();
-
-  // Set waypoints from the end of avoiding
-  for (int i = search_info.getGoalWaypointIndex() + 1; i < search_info.getGoalWaypointIndex() + size; i++)
-  {
-    if (i >= static_cast<int>(current_lane.waypoints.size()))
-      break;
-
-    avoid_lane->waypoints.push_back(current_lane.waypoints.at(i));
-  }
-}
-
-}  // namespace
-
-int main(int argc, char** argv)
-{
-  ros::init(argc, argv, "obstacle_avoid");
-  ros::NodeHandle n;
-
-  astar_planner::AstarSearch astar;
-  astar_planner::SearchInfo search_info;
-
-  // ROS subscribers
-  ros::Subscriber map_sub = n.subscribe("grid_map_visualization/distance_transform", 1,
-                                        &astar_planner::SearchInfo::mapCallback, &search_info);
-  ros::Subscriber start_sub =
-      n.subscribe("current_pose", 1, &astar_planner::SearchInfo::currentPoseCallback, &search_info);
-  ros::Subscriber waypoints_sub =
-      n.subscribe("base_waypoints", 1, &astar_planner::SearchInfo::waypointsCallback, &search_info);
-  ros::Subscriber obstacle_waypoint_sub =
-      n.subscribe("obstacle_waypoint", 1, &astar_planner::SearchInfo::obstacleWaypointCallback, &search_info);
-  ros::Subscriber closest_waypoint_sub =
-      n.subscribe("closest_waypoint", 1, &astar_planner::SearchInfo::closestWaypointCallback, &search_info);
-  // TODO: optional
-  // ros::Subscriber goal_sub = n.subscribe("/move_base_simple/goal", 1, &astar_planner::SearchInfo::goalCallback,
-  // &search_info);
-  ros::Subscriber current_velocity_sub =
-      n.subscribe("current_velocity", 1, &astar_planner::SearchInfo::currentVelocityCallback, &search_info);
-  ros::Subscriber state_sub = n.subscribe("state", 1, &astar_planner::SearchInfo::stateCallback, &search_info);
-
-  // ROS publishers
-  ros::Publisher path_pub = n.advertise<nav_msgs::Path>("astar_path", 1, true);
-  ros::Publisher waypoints_pub = n.advertise<autoware_msgs::Lane>("safety_waypoints", 1, true);
-
-  ros::Rate loop_rate(10);
-
-  // variables for avoidance
-  autoware_msgs::Lane avoid_lane;
-  int end_of_avoid_index = -1;
-  bool avoidance = false;
-  while (ros::ok())
-  {
-    ros::spinOnce();
-
-    int closest_waypoint;
-
-    // We switch 2 waypoints, original path and avoiding path
-    if (avoidance)
-      closest_waypoint = getClosestWaypoint(avoid_lane, search_info.getCurrentPose().pose);
-    else
-      closest_waypoint = search_info.getClosestWaypointIndex();
-
-    // there are no waypoints we can follow
-    if (closest_waypoint < 0 || !search_info.getPathSet())
-    {
-      loop_rate.sleep();
-      continue;
-    }
-
-    // Follow the original waypoints
-    if (!avoidance)
-    {
-      autoware_msgs::Lane publish_lane;
-      publish_lane = createPublishWaypoints(search_info.getSubscribedWaypoints(), closest_waypoint, 100);
-      waypoints_pub.publish(publish_lane);
-    }
-    // Follow the avoiding waypoints
-    else
-    {
-      // create waypoints from closest on avoid_lane
-      autoware_msgs::Lane publish_lane;
-      publish_lane = createPublishWaypoints(avoid_lane, closest_waypoint, 100);
-      waypoints_pub.publish(publish_lane);
-
-      // End of avoidance
-      if (closest_waypoint > end_of_avoid_index)
-      {
-        avoidance = false;
-
-        // Return to the original waypoints
-        search_info.setCurrentWaypoints(search_info.getSubscribedWaypoints());
-
-        loop_rate.sleep();
-        continue;
-      }
-    }
-
-    // Initialize vector for A* search, this runs only once
-    if (search_info.getMapSet() && !astar.getNodeInitialized())
-      astar.initializeNode(search_info.getMap());
-
-    // Waiting for the call for avoidance ...
-    if (!search_info.getMapSet() || !search_info.getStartSet() || !search_info.getGoalSet())
-    {
-      search_info.reset();
-      loop_rate.sleep();
-      continue;
-    }
-
-    // Run astar search
-    ros::WallTime timer_begin = ros::WallTime::now();
-
-    bool result = astar.makePlan(search_info.getStartPose().pose, search_info.getGoalPose().pose, search_info.getMap(),
-                                 search_info.getUpperBoundDistance());
-
-    ros::WallTime timer_end = ros::WallTime::now();
-    double time_ms = (timer_end - timer_begin).toSec() * 1000;
-    ROS_INFO("planning time: %lf [ms]", time_ms);
-
-    // debug mode
-    if (!search_info.getChangePath())
-    {
-      static double msec_sum = 0;
-      static int plan_count = 0;
-      plan_count++;
-      msec_sum += time_ms;
-      std::cout << "average time so far: " << msec_sum / plan_count << std::endl;
-    }
-
-    if (result)
-    {
-      std::cout << "Found goal!" << std::endl;
-      path_pub.publish(astar.getPath());
-
-      createAvoidWaypoints(astar.getPath(), search_info, 100, &avoid_lane, &end_of_avoid_index);
-
-      if (search_info.getChangePath())
-        avoidance = true;
-    }
-    else
-    {
-      std::cout << "can't find goal..." << std::endl;
-    }
-
-    // Reset flags
-    search_info.reset();
-    astar.reset();
-
-    loop_rate.sleep();
-  }
-
-  return 0;
-}
diff --git a/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/obstacle_sim/obstacle_sim.cpp b/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/obstacle_sim/obstacle_sim.cpp
deleted file mode 100644
index 23dc1467e8f..00000000000
--- a/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/obstacle_sim/obstacle_sim.cpp
+++ /dev/null
@@ -1,234 +0,0 @@
-#include "obstacle_sim.h"
-
-namespace astar_planner
-{
-
-void convertToPointCloud2(const std::vector<geometry_msgs::Point>& points, sensor_msgs::PointCloud2* ros_pointcloud)
-{
-  pcl::PointCloud<pcl::PointXYZ> pcl_points;
-
-  for (const auto& p : points)
-  {
-    pcl::PointXYZ pcl_p;
-    pcl_p.x = p.x;
-    pcl_p.y = p.y;
-    pcl_p.z = p.z;
-
-    pcl_points.push_back(pcl_p);
-  }
-
-  //sensor_msgs::PointCloud2 ros_pointcloud;
-  pcl::toROSMsg(pcl_points, *ros_pointcloud);
-}
-
-geometry_msgs::Point transformPoint(const geometry_msgs::Point& p, const tf::Transform& tf)
-{
-  // convert to tf msg
-  tf::Point tf_point;
-  tf::pointMsgToTF(p, tf_point);
-
-  // apply transform
-  tf_point = tf * tf_point;
-
-  // convert to ros msg
-  geometry_msgs::Point ros_point;
-  tf::pointTFToMsg(tf_point, ros_point);
-
-  return ros_point;
-}
-
-ObstacleSim::ObstacleSim()
-    : private_nh_("~"),
-      sub_navgoal(false)
-{
-  initForROS();
-}
-
-ObstacleSim::~ObstacleSim()
-{
-}
-
-void ObstacleSim::initForROS()
-{
-  // ros parameter settings
-  private_nh_.param<double>("obstacle_height", obstacle_height_, 1.0);
-  private_nh_.param<double>("obstacle_width", obstacle_width_, 1.0);
-  private_nh_.param<double>("points_interval", points_interval_, 0.1);
-  private_nh_.param<std::string>("obstacle_frame", obstacle_frame_, "/velodyne");
-
-  // setup subscriber
-  nav_goal_sub_ = nh_.subscribe("move_base_simple/goal", 1, &ObstacleSim::callbackFromNavGoal, this);
-
-  // setup publisher
-  obstacle_sim_points_pub_ = nh_.advertise<visualization_msgs::Marker>("obstacle_sim_points", 1, true);
-  obstacle_sim_pointcloud_pub_ = nh_.advertise<sensor_msgs::PointCloud2>("obstacle_sim_pointcloud", 1, true);
-  obstacle_marker_pub_ = nh_.advertise<visualization_msgs::Marker>("astar_sim_obstacle", 1, true);
-}
-
-void ObstacleSim::callbackFromNavGoal(const geometry_msgs::PoseStampedConstPtr& msg)
-{
-  sub_navgoal = true;
-
-  // frame of using in RViz
-  world_frame_ = msg->header.frame_id;
-
-  // reset points
-  obstacle_points_.clear();
-
-  // points at each vertex of rectangle
-  geometry_msgs::Point upper_left, upper_right, lower_left, lower_right;
-  upper_left.x  = msg->pose.position.x - obstacle_width_ / 2.0;
-  upper_left.y  = msg->pose.position.y + obstacle_height_ / 2.0;
-  upper_right.x = upper_left.x + obstacle_width_;
-  upper_right.y = upper_left.y;
-  lower_left.x  = upper_left.x;
-  lower_left.y  = upper_left.y - obstacle_height_;
-  lower_right.x = upper_right.x;
-  lower_right.y = lower_left.y;
-
-  // points along each side
-  for (double x = upper_left.x; x < upper_right.x; x += points_interval_)
-  {
-    geometry_msgs::Point up, down;
-    up.x = x;
-    up.y = upper_left.y;
-    down.x = x;
-    down.y = lower_left.y;
-
-    obstacle_points_.emplace_back(up);
-    obstacle_points_.emplace_back(down);
-  }
-  for (double y = upper_left.y; y > lower_left.y; y -= points_interval_)
-  {
-    geometry_msgs::Point left, right;
-    left.x = upper_left.x;
-    left.y = y;
-    right.x = upper_right.x;
-    right.y = y;
-
-    obstacle_points_.emplace_back(left);
-    obstacle_points_.emplace_back(right);
-  }
-
-  displayObstacleMarker(upper_left, upper_right, lower_left, lower_right, world_frame_);
-  
-  // debug
-  //displayObstaclePoints();
-}
-
-// debug
-void ObstacleSim::displayObstaclePoints()
-{
-  visualization_msgs::Marker marker;
-  marker.header.frame_id = "/world";
-  marker.header.stamp = ros::Time();
-  marker.ns = "obstacle_sim";
-  marker.id = 0;
-  marker.type = visualization_msgs::Marker::POINTS;
-  marker.action = visualization_msgs::Marker::ADD;
-  for (const auto &p : obstacle_points_)
-  {
-    marker.points.push_back(p);
-  }
-
-  marker.scale.x = 0.05;
-  marker.scale.y = 0.05;
-  marker.color.a = 1.0;
-  marker.color.r = 0.0;
-  marker.color.g = 1.0;
-  marker.color.b = 0.0;
-  //marker.lifetime = ros::Duration(0.1);
-  marker.frame_locked = true;
-
-
-  obstacle_sim_points_pub_.publish(marker);
-}
-
-void ObstacleSim::displayObstacleMarker(const geometry_msgs::Point& p1, const geometry_msgs::Point& p2, const geometry_msgs::Point& p3, const geometry_msgs::Point& p4, const std::string& frame)
-{
-  visualization_msgs::Marker marker;
-  marker.header.frame_id = frame;
-  marker.header.stamp = ros::Time();
-  marker.ns = "obstacle_sim";
-  marker.id = 0;
-  marker.type = visualization_msgs::Marker::LINE_STRIP;
-  marker.action = visualization_msgs::Marker::ADD;
-
-  // 1 -- 2
-  // |    |
-  // 3 -- 4
-  marker.points.push_back(p1);
-  marker.points.push_back(p2);
-  marker.points.push_back(p4);
-  marker.points.push_back(p3);
-  marker.points.push_back(p1);
-  marker.points.push_back(p4);
-  marker.points.push_back(p3);
-  marker.points.push_back(p2);
-
-  marker.scale.x = 0.1;
-  marker.color.a = 1.0;
-  marker.color.r = 1.0;
-  marker.color.g = 1.0;
-  marker.color.b = 0.0;
-  //marker.lifetime = ros::Duration(0.1);
-  marker.frame_locked = true;
-
-  obstacle_marker_pub_.publish(marker);
-}
-
-void ObstacleSim::publishPoints()
-{
-  // transform points to sensor frame to be detected as an obstacle
-  tf::StampedTransform world2sensor;
-  try
-  {
-    tf_listener_.lookupTransform(world_frame_, obstacle_frame_, ros::Time(0), world2sensor);
-  }
-  catch (tf::TransformException ex)
-  {
-    ROS_ERROR("%s", ex.what());
-    return;
-  }
-
-  tf::Transform sensor2world = world2sensor.inverse();
-
-  std::vector<geometry_msgs::Point> obstacle_points_tf;
-  for (const auto& p : obstacle_points_)
-  {
-    geometry_msgs::Point tf_p = transformPoint(p, sensor2world);
-    tf_p.z = 0.0;
-
-    obstacle_points_tf.emplace_back(tf_p);
-  }
-
-  sensor_msgs::PointCloud2 ros_pointcloud;
-  convertToPointCloud2(obstacle_points_tf, &ros_pointcloud);
-  ros_pointcloud.header.frame_id = obstacle_frame_;
-  ros_pointcloud.header.stamp = ros::Time();
-
-  obstacle_sim_pointcloud_pub_.publish(ros_pointcloud);
-}
-
-void ObstacleSim::run()
-{
-  ros::Rate loop_rate(10);
-  while (ros::ok())
-  {
-    ros::spinOnce();
-
-    // not subscribed obstacle pose yet
-    if (!sub_navgoal)
-    {
-      loop_rate.sleep();
-      continue;
-    }
-
-    // publish obstacle points
-    publishPoints();
-
-    loop_rate.sleep();
-  }
-}
-
-} // namespace astar_planner
diff --git a/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/obstacle_sim/obstacle_sim.h b/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/obstacle_sim/obstacle_sim.h
deleted file mode 100644
index 2183af1212b..00000000000
--- a/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/obstacle_sim/obstacle_sim.h
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
-
-*/
-
-#ifndef OBSTACLE_SIM_H
-#define OBSTACLE_SIM_H
-
-// ROS includes
-#include <ros/ros.h>
-#include <geometry_msgs/PoseStamped.h>
-#include <visualization_msgs/MarkerArray.h>
-#include <pcl_conversions/pcl_conversions.h>
-#include <tf/transform_listener.h>
-#include <geometry_msgs/Polygon.h>
-
-// C++ includes
-#include <iostream>
-#include <vector>
-
-namespace astar_planner
-{
-
-class ObstacleSim
-{
-public:
-  ObstacleSim();
-  ~ObstacleSim();
-
-  void run();
-  
-private:
-  // handle
-  ros::NodeHandle nh_;
-  ros::NodeHandle private_nh_;
-
-  // ros publisher
-  ros::Publisher lane_array_pub_;
-  ros::Publisher obstacle_sim_points_pub_;
-  ros::Publisher obstacle_sim_pointcloud_pub_;
-  ros::Publisher obstacle_marker_pub_;
-
-  // ros subscriver
-  ros::Subscriber nav_goal_sub_;
-
-  // callbacks
-  void callbackFromNavGoal(const geometry_msgs::PoseStampedConstPtr& msg);
-
-  // initializer
-  void initForROS();
-
-  void publishPoints();
-
-  // debug
-  void displayObstaclePoints();
-  void displayObstacleMarker(const geometry_msgs::Point& p1, const geometry_msgs::Point& p2, const geometry_msgs::Point& p3, const geometry_msgs::Point& p4, const std::string& frame);
-
-  // ros param
-  double obstacle_height_;
-  double obstacle_width_;
-  double points_interval_;
-  std::string obstacle_frame_;
-
-  std::vector<geometry_msgs::Point> obstacle_points_;
-  tf::TransformListener tf_listener_;
-  std::string world_frame_;
-
-  // flag
-  bool sub_navgoal;
-
-}; // class ObstacleSim
-
-} // namespace astar_planner
-
-#endif  /* ifndef COMMAND_SENDER_H */
diff --git a/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/obstacle_sim/obstacle_sim_node.cpp b/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/obstacle_sim/obstacle_sim_node.cpp
deleted file mode 100644
index a3f2b4aa411..00000000000
--- a/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/obstacle_sim/obstacle_sim_node.cpp
+++ /dev/null
@@ -1,17 +0,0 @@
-/*
- */
-
-// ROS Includes
-#include <ros/ros.h>
-
-#include "obstacle_sim.h"
-
-int main(int argc, char **argv)
-{
-  ros::init(argc, argv, "udon_translator");
-
-  astar_planner::ObstacleSim obstacle_sim;
-  obstacle_sim.run();
-
-  return 0;
-}
diff --git a/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/search_info_ros.cpp b/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/search_info_ros.cpp
deleted file mode 100644
index 3e85174f357..00000000000
--- a/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/search_info_ros.cpp
+++ /dev/null
@@ -1,298 +0,0 @@
-/*
- * Copyright 2015-2019 Autoware Foundation. All rights reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "search_info_ros.h"
-
-namespace astar_planner
-{
-SearchInfo::SearchInfo()
-  : map_set_(false)
-  , start_set_(false)
-  , goal_set_(false)
-  , path_set_(false)
-  , closest_waypoint_index_(-1)
-  , obstacle_waypoint_index_(-1)
-  , start_waypoint_index_(-1)
-  , goal_waypoint_index_(-1)
-  , state_("")
-  , upper_bound_distance_(-1)
-{
-  ros::NodeHandle nh;
-  ros::NodeHandle private_nh_("~");
-  node_status_publisher_ptr_ = std::make_shared<autoware_health_checker::NodeStatusPublisher>(nh,private_nh_);
-  node_status_publisher_ptr_->ENABLE();
-  private_nh_.param<std::string>("map_frame", map_frame_, "map");
-  private_nh_.param<int>("obstacle_detect_count", obstacle_detect_count_, 10);
-  private_nh_.param<int>("avoid_distance", avoid_distance_, 13);
-  private_nh_.param<double>("avoid_velocity_limit_mps", avoid_velocity_limit_mps_, 4.166);
-  private_nh_.param<double>("upper_bound_ratio", upper_bound_ratio_, 1.04);
-  private_nh_.param<bool>("avoidance", avoidance_, false);
-  private_nh_.param<bool>("change_path", change_path_, true);
-}
-
-SearchInfo::~SearchInfo()
-{
-}
-
-double SearchInfo::calcPathLength(const autoware_msgs::Lane &lane, const int start_waypoint_index,
-                                  const int goal_waypoint_index) const
-{
-  if (lane.waypoints.size() <= 1)
-    return 0;
-
-  // calulate the length of the path
-  double dist_sum = 0;
-  for (int i = start_waypoint_index; i < goal_waypoint_index; i++)
-  {
-    geometry_msgs::Pose p1 = lane.waypoints[i].pose.pose;
-    geometry_msgs::Pose p2 = lane.waypoints[i + 1].pose.pose;
-
-    dist_sum += astar_planner::calcDistance(p1.position.x, p1.position.y, p2.position.x, p2.position.y);
-  }
-
-  // return the path lengh
-  return dist_sum;
-}
-
-void SearchInfo::mapCallback(const nav_msgs::OccupancyGridConstPtr &msg)
-{
-  map_ = *msg;
-
-  std::string map_frame = map_frame_;
-  std::string ogm_frame = msg->header.frame_id;
-
-  // Set transform between map frame and OccupancyGrid frame
-  tf::StampedTransform map2ogm_frame;
-  try
-  {
-    tf_listener_.lookupTransform(map_frame, ogm_frame, ros::Time(0), map2ogm_frame);
-  }
-  catch (tf::TransformException ex)
-  {
-    ROS_ERROR("%s", ex.what());
-    return;
-  }
-
-  // Set transform between map frame and the origin of OccupancyGrid
-  tf::Transform map2ogm;
-  geometry_msgs::Pose ogm_in_map = astar_planner::transformPose(map_.info.origin, map2ogm_frame);
-  tf::poseMsgToTF(ogm_in_map, map2ogm);
-  ogm2map_ = map2ogm.inverse();
-
-  map_set_ = true;
-}
-
-void SearchInfo::currentPoseCallback(const geometry_msgs::PoseStampedConstPtr &msg)
-{
-  current_pose_ = *msg;
-  node_status_publisher_ptr_->NODE_ACTIVATE();
-  node_status_publisher_ptr_->CHECK_RATE("/topic/rate/current_pose/slow",8,5,1,"topic current_pose subscribe rate low.");
-  if(closest_waypoint_index_!=-1 && path_set_)
-  {
-    autoware_msgs::Waypoint closest_waypoint = subscribed_waypoints_.waypoints[closest_waypoint_index_];
-    double dist = std::sqrt(std::pow(closest_waypoint.pose.pose.position.x-current_pose_.pose.position.x,2)
-      +std::pow(closest_waypoint.pose.pose.position.y-current_pose_.pose.position.y,2));
-    node_status_publisher_ptr_->CHECK_MAX_VALUE("/value/range/closest_waypoint_distance",dist,0.5,1.0,2.0,"distance between closest_waypoint and current_pose is too long.");
-  }
-  return;
-}
-
-void SearchInfo::currentVelocityCallback(const geometry_msgs::TwistStampedConstPtr &msg)
-{
-  current_velocity_mps_ = msg->twist.linear.x;
-}
-
-void SearchInfo::goalCallback(const geometry_msgs::PoseStampedConstPtr &msg)
-{
-  if (!map_set_)
-    return;
-
-  ROS_INFO("Subcscribed goal pose!");
-
-  std::string map_frame = map_frame_;
-  std::string goal_frame = msg->header.frame_id;
-
-  // Get transform of map to the frame of goal pose
-  tf::StampedTransform map2world;
-  try
-  {
-    tf_listener_.lookupTransform(map_frame, goal_frame, ros::Time(0), map2world);
-  }
-  catch (tf::TransformException ex)
-  {
-    ROS_ERROR("%s", ex.what());
-    return;
-  }
-
-  // Set goal pose
-  geometry_msgs::Pose pose_msg = msg->pose;
-  goal_pose_global_.pose = astar_planner::transformPose(pose_msg, map2world);
-  goal_pose_global_.header = msg->header;
-  goal_pose_local_.pose = astar_planner::transformPose(goal_pose_global_.pose, ogm2map_);
-  goal_pose_local_.header = goal_pose_global_.header;
-
-  goal_set_ = true;
-
-  // Get transform of map to the frame of start pose
-  std::string start_frame = current_pose_.header.frame_id;
-  tf::StampedTransform map2start_frame;
-  try
-  {
-    tf_listener_.lookupTransform(map_frame_, start_frame, ros::Time(0), map2start_frame);
-  }
-  catch (tf::TransformException ex)
-  {
-    ROS_ERROR("%s", ex.what());
-    return;
-  }
-
-  // Set start pose
-  start_pose_global_.pose = astar_planner::transformPose(current_pose_.pose, map2start_frame);
-  start_pose_global_.header = current_pose_.header;
-  start_pose_local_.pose = astar_planner::transformPose(start_pose_global_.pose, ogm2map_);
-  start_pose_local_.header = start_pose_global_.header;
-
-  start_set_ = true;
-}
-
-// get waypoints
-void SearchInfo::waypointsCallback(const autoware_msgs::LaneConstPtr &msg)
-{
-  subscribed_waypoints_ = *msg;
-
-  if (!path_set_)
-  {
-    current_waypoints_ = *msg;
-    path_set_ = true;
-  }
-}
-
-void SearchInfo::closestWaypointCallback(const std_msgs::Int32ConstPtr &msg)
-{
-  node_status_publisher_ptr_->CHECK_RATE("/topic/rate/closest_waypoint/slow",8,5,1,"topic closest_waypoint subscribe rate low.");
-  closest_waypoint_index_ = msg->data;
-}
-
-void SearchInfo::obstacleWaypointCallback(const std_msgs::Int32ConstPtr &msg)
-{
-  // not always avoid AND current state is not avoidance
-  if (!avoidance_ && state_ != "OBSTACLE_AVOIDANCE")
-  {
-    ROS_WARN("current state is not OBSTACLE_AVOIDANCE");
-    return;
-  }
-
-  // there are no obstacles
-  if (msg->data < 0 || closest_waypoint_index_ < 0 || current_waypoints_.waypoints.empty())
-  {
-    return;
-  }
-
-  // msg->data : local index
-  // closest   : global index
-  // Conver local index to global index
-  obstacle_waypoint_index_ = msg->data + closest_waypoint_index_;
-
-  // Handle when detecting sensor noise as an obstacle
-  static int prev_obstacle_waypoint_index = -1;
-  static int obstacle_count = 0;
-  int same_obstacle_threshold = 2;
-  if (obstacle_waypoint_index_ >= prev_obstacle_waypoint_index - same_obstacle_threshold &&
-      obstacle_waypoint_index_ <= prev_obstacle_waypoint_index + same_obstacle_threshold)
-  {
-    obstacle_count++;
-  }
-  else
-  {
-    obstacle_count = 1;
-  }
-
-  prev_obstacle_waypoint_index = obstacle_waypoint_index_;
-
-  if (obstacle_count < obstacle_detect_count_)
-    return;
-
-  // not debug mode
-  if (change_path_)
-    obstacle_count = 0;
-
-  // Decide start and goal waypoints for planning
-  start_waypoint_index_ = obstacle_waypoint_index_ - avoid_distance_;
-  goal_waypoint_index_ = obstacle_waypoint_index_ + avoid_distance_;
-
-  // Handle out of range
-  if (start_waypoint_index_ < 0)
-    start_waypoint_index_ = 0;
-
-  // Handle out of range
-  if (goal_waypoint_index_ >= static_cast<int>(getCurrentWaypoints().waypoints.size()))
-    goal_waypoint_index_ = getCurrentWaypoints().waypoints.size() - 1;
-
-  double original_path_length = calcPathLength(current_waypoints_, start_waypoint_index_, goal_waypoint_index_);
-  upper_bound_distance_ = original_path_length * upper_bound_ratio_;
-
-  // Do not avoid if (the obstacle is too close || current velocity is too fast)
-  if (closest_waypoint_index_ + 1 > start_waypoint_index_)
-  {
-    ROS_WARN("The obstacle is too close!");
-    return;
-  }
-
-  // apply velocity limit for avoiding
-  if (current_velocity_mps_ > avoid_velocity_limit_mps_)
-  {
-    ROS_WARN("Velocity of the vehicle exceeds the avoid velocity limit");
-    return;
-  }
-
-  // Set start pose
-  start_pose_global_ = current_waypoints_.waypoints[start_waypoint_index_].pose;
-  start_pose_local_.pose = astar_planner::transformPose(start_pose_global_.pose, ogm2map_);
-  start_set_ = true;
-
-  // Set transit pose
-  // TODO:
-  double actual_car_width = 2.5;  // [m]
-  geometry_msgs::Pose relative_transit_pose;
-  // TODO: always right avoidance ???
-  relative_transit_pose.position.y -= actual_car_width;
-  relative_transit_pose.orientation = current_waypoints_.waypoints[obstacle_waypoint_index_].pose.pose.orientation;
-  tf::Pose obstacle_pose_tf;
-  tf::poseMsgToTF(current_waypoints_.waypoints[obstacle_waypoint_index_].pose.pose, obstacle_pose_tf);
-
-  transit_pose_global_.pose = astar_planner::transformPose(relative_transit_pose, obstacle_pose_tf);
-  transit_pose_local_.pose = astar_planner::transformPose(transit_pose_global_.pose, ogm2map_);
-
-  // Set goal pose
-  goal_pose_global_ = current_waypoints_.waypoints[goal_waypoint_index_].pose;
-  goal_pose_local_.pose = astar_planner::transformPose(goal_pose_global_.pose, ogm2map_);
-
-  goal_set_ = true;
-}
-
-void SearchInfo::stateCallback(const std_msgs::StringConstPtr &msg)
-{
-  state_ = msg->data;
-}
-
-void SearchInfo::reset()
-{
-  map_set_ = false;
-  start_set_ = false;
-  goal_set_ = false;
-  obstacle_waypoint_index_ = -1;
-}
-}
diff --git a/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/search_info_ros.h b/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/search_info_ros.h
deleted file mode 100644
index 4a0d0af0c4a..00000000000
--- a/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/search_info_ros.h
+++ /dev/null
@@ -1,190 +0,0 @@
-/*
- * Copyright 2015-2019 Autoware Foundation. All rights reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef SEARCH_INFO_ROS_H
-#define SEARCH_INFO_ROS_H
-
-#include "astar_util.h"
-#include "autoware_msgs/Lane.h"
-#include "waypoint_follower/libwaypoint_follower.h"
-
-#include <nav_msgs/OccupancyGrid.h>
-#include <geometry_msgs/PoseStamped.h>
-#include <tf/transform_listener.h>
-#include <std_msgs/Int32.h>
-#include <std_msgs/String.h>
-
-#include <autoware_health_checker/node_status_publisher.h>
-#include <memory>
-
-namespace astar_planner
-{
-class SearchInfo
-{
-public:
-  SearchInfo();
-  ~SearchInfo();
-
-  // ROS Callback
-  void mapCallback(const nav_msgs::OccupancyGridConstPtr &msg);
-  // void startCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr &msg);
-  void goalCallback(const geometry_msgs::PoseStampedConstPtr &msg);
-  void currentPoseCallback(const geometry_msgs::PoseStampedConstPtr &msg);
-  void currentVelocityCallback(const geometry_msgs::TwistStampedConstPtr &msg);
-  void waypointsCallback(const autoware_msgs::LaneConstPtr &msg);
-  void closestWaypointCallback(const std_msgs::Int32ConstPtr &msg);
-  void obstacleWaypointCallback(const std_msgs::Int32ConstPtr &msg);
-  void stateCallback(const std_msgs::StringConstPtr &msg);
-
-  // get method
-  bool getMapSet() const
-  {
-    return map_set_;
-  }
-  bool getStartSet() const
-  {
-    return start_set_;
-  }
-  bool getGoalSet() const
-  {
-    return goal_set_;
-  }
-  bool getPathSet() const
-  {
-    return path_set_;
-  }
-  nav_msgs::OccupancyGrid getMap() const
-  {
-    return map_;
-  }
-  geometry_msgs::PoseStamped getStartPose() const
-  {
-    return start_pose_local_;
-  }
-  geometry_msgs::PoseStamped getGoalPose() const
-  {
-    return goal_pose_local_;
-  }
-  geometry_msgs::PoseStamped getTransitPose() const
-  {
-    return transit_pose_local_;
-  }
-  geometry_msgs::PoseStamped getCurrentPose() const
-  {
-    return current_pose_;
-  }
-  double getCurrentVelocity() const
-  {
-    return current_velocity_mps_;
-  }
-  autoware_msgs::Lane getSubscribedWaypoints() const
-  {
-    return subscribed_waypoints_;
-  }
-  autoware_msgs::Lane getCurrentWaypoints() const
-  {
-    return current_waypoints_;
-  }
-  int getObstacleWaypointIndex() const
-  {
-    return obstacle_waypoint_index_;
-  }
-  int getClosestWaypointIndex() const
-  {
-    return closest_waypoint_index_;
-  }
-  int getStartWaypointIndex() const
-  {
-    return start_waypoint_index_;
-  }
-  int getGoalWaypointIndex() const
-  {
-    return goal_waypoint_index_;
-  }
-  double getUpperBoundDistance() const
-  {
-    return upper_bound_distance_;
-  }
-  double getAvoidVelocityLimitMPS() const
-  {
-    return avoid_velocity_limit_mps_;
-  }
-  bool getAvoidance() const
-  {
-    return avoidance_;
-  }
-  bool getChangePath() const
-  {
-    return change_path_;
-  }
-
-  // set method
-  void setCurrentWaypoints(const autoware_msgs::Lane &waypoints)
-  {
-    current_waypoints_ = waypoints;
-  }
-
-  // Reset flag
-  void reset();
-
-private:
-  double calcPathLength(const autoware_msgs::Lane &lane, const int start_waypoint_index,
-                        const int goal_waypoint_index) const;
-  std::shared_ptr<autoware_health_checker::NodeStatusPublisher> node_status_publisher_ptr_;
-  nav_msgs::OccupancyGrid map_;
-  geometry_msgs::PoseStamped start_pose_global_;
-  geometry_msgs::PoseStamped goal_pose_global_;
-  geometry_msgs::PoseStamped transit_pose_global_;
-  geometry_msgs::PoseStamped start_pose_local_;
-  geometry_msgs::PoseStamped goal_pose_local_;
-  geometry_msgs::PoseStamped transit_pose_local_;
-  // Transform which converts global frame (/map in Autoware) to OccupancyGrid frame
-  tf::Transform ogm2map_;
-  tf::TransformListener tf_listener_;
-
-  // set data flag
-  bool map_set_;
-  bool start_set_;
-  bool goal_set_;
-  bool path_set_;
-
-  // ROS param
-  std::string map_frame_;
-  int obstacle_detect_count_;        // 1 increment means 100ms
-  int avoid_distance_;               // the number of waypoint
-  double avoid_velocity_limit_mps_;  // m/s
-  double upper_bound_ratio_;
-  bool avoidance_;
-  bool change_path_;
-
-  // subscribed imformation
-  int closest_waypoint_index_;
-  int obstacle_waypoint_index_;
-  int start_waypoint_index_;
-  int goal_waypoint_index_;
-  autoware_msgs::Lane subscribed_waypoints_;
-  autoware_msgs::Lane current_waypoints_;
-  geometry_msgs::PoseStamped current_pose_;
-  double current_velocity_mps_;
-  std::string state_;
-
-  // for prunning
-  double upper_bound_distance_;
-};
-
-}  // namespace astar_planner
-
-#endif  // SEARCH_INFO_ROS_H
diff --git a/ros/src/computing/planning/motion/packages/lattice_planner/CMakeLists.txt b/ros/src/computing/planning/motion/packages/lattice_planner/CMakeLists.txt
index bb47dfbb8c7..142910b60e4 100644
--- a/ros/src/computing/planning/motion/packages/lattice_planner/CMakeLists.txt
+++ b/ros/src/computing/planning/motion/packages/lattice_planner/CMakeLists.txt
@@ -14,7 +14,8 @@ find_package(catkin REQUIRED COMPONENTS
         tf
         gnss
         waypoint_follower
-        astar_planner
+        vector_map
+        waypoint_planner
         autoware_can_msgs
         )
 
@@ -42,7 +43,7 @@ catkin_package(
         gnss
         waypoint_follower
         vector_map
-        astar_planner
+        waypoint_planner
         autoware_can_msgs
 )
 
diff --git a/ros/src/computing/planning/motion/packages/lattice_planner/package.xml b/ros/src/computing/planning/motion/packages/lattice_planner/package.xml
index 7acae3a9bc1..211b820b46f 100644
--- a/ros/src/computing/planning/motion/packages/lattice_planner/package.xml
+++ b/ros/src/computing/planning/motion/packages/lattice_planner/package.xml
@@ -20,7 +20,7 @@
     <build_depend>gnss</build_depend>
     <build_depend>waypoint_follower</build_depend>
     <build_depend>vector_map</build_depend>
-    <build_depend>astar_planner</build_depend>
+    <build_depend>waypoint_planner</build_depend>
     <build_depend>autoware_can_msgs</build_depend>
     <build_depend>armadillo</build_depend>
 
@@ -33,7 +33,7 @@
     <run_depend>gnss</run_depend>
     <run_depend>waypoint_follower</run_depend>
     <run_depend>vector_map</run_depend>
-    <run_depend>astar_planner</run_depend>
+    <run_depend>waypoint_planner</run_depend>
     <run_depend>autoware_can_msgs</run_depend>
     <run_depend>armadillo</run_depend>
 
diff --git a/ros/src/computing/planning/motion/packages/waypoint_maker/CHANGELOG.rst b/ros/src/computing/planning/motion/packages/waypoint_maker/CHANGELOG.rst
index 3993002d791..af2ae84026d 100644
--- a/ros/src/computing/planning/motion/packages/waypoint_maker/CHANGELOG.rst
+++ b/ros/src/computing/planning/motion/packages/waypoint_maker/CHANGELOG.rst
@@ -271,7 +271,7 @@ Changelog for package waypoint_maker
 
 1.3.0 (2017-07-14)
 ------------------
-* Add obstacle avoid feature in astar_planner
+* Add obstacle avoid feature in waypoint_planner
 * convert to autoware_msgs
 * Contributors: TomohitoAndo, YamatoAndo
 
diff --git a/ros/src/computing/planning/motion/packages/astar_planner/CHANGELOG.rst b/ros/src/computing/planning/motion/packages/waypoint_planner/CHANGELOG.rst
similarity index 97%
rename from ros/src/computing/planning/motion/packages/astar_planner/CHANGELOG.rst
rename to ros/src/computing/planning/motion/packages/waypoint_planner/CHANGELOG.rst
index c926ca9757e..5eb01818b3e 100644
--- a/ros/src/computing/planning/motion/packages/astar_planner/CHANGELOG.rst
+++ b/ros/src/computing/planning/motion/packages/waypoint_planner/CHANGELOG.rst
@@ -1,6 +1,6 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package astar_planner
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package waypoint_planner
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 1.10.0 (2019-01-17)
 -------------------
@@ -118,7 +118,7 @@ Changelog for package astar_planner
 ------------------
 * fix build issues due to autoware_msgs
 * Apply clang-formt
-* Add obstacle avoid feature in astar_planner
+* Add obstacle avoid feature in waypoint_planner
 * convert to autoware_msgs
 * Contributors: TomohitoAndo, YamatoAndo, Yusuke FUJII
 
diff --git a/ros/src/computing/planning/motion/packages/waypoint_planner/CMakeLists.txt b/ros/src/computing/planning/motion/packages/waypoint_planner/CMakeLists.txt
new file mode 100644
index 00000000000..d950e3714e7
--- /dev/null
+++ b/ros/src/computing/planning/motion/packages/waypoint_planner/CMakeLists.txt
@@ -0,0 +1,72 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(waypoint_planner)
+
+set(CMAKE_CXX_FLAGS "-O2 -g -Wall ${CMAKE_CXX_FLAGS}")
+
+find_package(catkin REQUIRED COMPONENTS
+  autoware_build_flags
+  roscpp
+  std_msgs
+  pcl_ros
+  pcl_conversions
+  tf
+  waypoint_follower
+  autoware_msgs
+  vector_map
+  astar_search
+)
+
+catkin_package(
+  CATKIN_DEPENDS
+  roscpp
+  std_msgs
+  tf
+  waypoint_follower
+  autoware_msgs
+  vector_map
+  astar_search
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_executable(astar_avoid
+  src/astar_avoid/astar_avoid.cpp
+  src/astar_avoid/astar_avoid_node.cpp
+)
+
+target_link_libraries(astar_avoid
+  ${catkin_LIBRARIES}
+)
+
+add_dependencies(astar_avoid
+  ${catkin_EXPORTED_TARGETS}
+)
+
+add_executable(velocity_set
+  src/velocity_set/velocity_set.cpp
+  src/velocity_set/velocity_set_path.cpp
+  src/velocity_set/velocity_set_info.cpp
+  src/velocity_set/libvelocity_set.cpp
+)
+
+target_link_libraries(velocity_set
+  ${catkin_LIBRARIES}
+)
+
+add_dependencies(velocity_set
+  ${catkin_EXPORTED_TARGETS}
+)
+
+install(TARGETS astar_avoid velocity_set
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY launch/
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+        PATTERN ".svn" EXCLUDE
+)
diff --git a/ros/src/computing/planning/motion/packages/waypoint_planner/README.md b/ros/src/computing/planning/motion/packages/waypoint_planner/README.md
new file mode 100644
index 00000000000..cfc78af64ac
--- /dev/null
+++ b/ros/src/computing/planning/motion/packages/waypoint_planner/README.md
@@ -0,0 +1,73 @@
+# Waypoint Planner
+
+Waypoint planner package provides the local planner nodes that dynamically plan avoidance behavior, velocity on waypoints, and so on.
+
+## Waypoint Planner - Astar Avoid
+
+`astar_avoid` node has two mode, Relay mode and Avoidance mode. You can switch these modes by `enable_avoidance` parameter.
+
+- Relay mode: Not avoid planning and just publishing waypoints from self pose.
+- Avoidance mode: Avoiding obstacles by Hybrid-A* search algorithm in `astar_search` package with internal state transition
+
+*NOTE* : If you have `wayarea` in your ADAS map, it's possible to limit search area and realize more safety planning by enabling `Use Wayarea` in `costmap_generator` node. Please see the results in below demo videos.
+
+Please see also: mission/packages/freespace_planner/README.md
+
+### How to launch
+
+* From Runtime Manager:
+
+Computing -> Motion Planning -> waypoint_planner -> astar_avoid
+
+* From CLI:
+
+`$ roslaunch waypoint_planner astar_avoid.launch`
+
+### Parameters
+
+Parameters can be set in both Launch file and Runtime manager:
+
+| Parameter in RM | Parameter in Launch | Type | Description | Default |
+| --- | --- | --- | --- | --- |
+| `Enable Avoidance` | `enable_avoidance` | *Bool* | Enable avoidance mode | `false` |
+| `Costmap Topic` | `costmap_topic` | *String* | Costmap topic for Hybrid-A* search | `semantics/costmap_generator/occupancy_grid` |
+| `Waypoint Velocity` | `avoid_waypoints_velocity` | *Double* | Constant velocity on planned waypoints [km/h] | `10.0` |
+| `Avoidance Start Velocity` | `avoid_start_velocity` | *Double* | Self velocity for staring avoidance behavior [km/h] | `5.0` |
+| `Replan Interval` | `replan_interval` | *Double* | Replan interval for avoidance planning [Hz] | `2.0` |
+| - | `safety_waypoints_size` | *Int* | Output waypoint size [-] | `100` |
+| - | `update_rate` | *Double* | Publishing rate [Hz] | `10.0` |
+| - | `search_waypoints_size` | *Int* | Range of waypoints for incremental search [-] | `50` |
+| - | `search_waypoints_delta` | *Int* | Skipped waypoints for incremental search [-] | `2` |
+
+### Subscriptions/Publications
+
+```
+Node [/astar_avoid]
+Publications:
+ * /safety_waypoints [autoware_msgs/Lane]
+
+Subscriptions:
+ * /base_waypoints [autoware_msgs/Lane]
+ * /closest_waypoint [std_msgs/Int32]
+ * /current_pose [geometry_msgs/PoseStamped]
+ * /current_velocity [geometry_msgs/TwistStamped]
+ * /semantics/costmap_generator/occupancy_grid [nav_msgs/OccupancyGrid]
+ * /obstacle_waypoint [std_msgs/Int32]
+ * /tf [tf2_msgs/TFMessage]
+ * /tf_static [tf2_msgs/TFMessage]
+```
+
+### Demo videos
+
+#### Dynamically avoiding (senario 1)
+[![Hybrid A*, dynamically avoiding (scenario 1)](https://img.youtube.com/vi/o_WXfPh9JKA/sddefault.jpg)](https://youtu.be/o_WXfPh9JKA)
+
+#### Dynamically avoiding (senario 2)
+[![Hybrid A*, dynamically avoiding (scenario 12](https://img.youtube.com/vi/fqXIlWuMuDk/sddefault.jpg)](https://youtu.be/fqXIlWuMuDk)
+
+#### Statically avoiding by big re-routing
+[![Hybrid A*, statically avoiding by big re-routing](https://img.youtube.com/vi/J-3J-EiBP38/sddefault.jpg)](https://youtu.be/J-3J-EiBP38)
+
+## Waypoint Planner - Velocity Set
+
+// TODO
diff --git a/ros/src/computing/planning/motion/packages/waypoint_planner/include/waypoint_planner/astar_avoid/astar_avoid.h b/ros/src/computing/planning/motion/packages/waypoint_planner/include/waypoint_planner/astar_avoid/astar_avoid.h
new file mode 100644
index 00000000000..37b63935ddc
--- /dev/null
+++ b/ros/src/computing/planning/motion/packages/waypoint_planner/include/waypoint_planner/astar_avoid/astar_avoid.h
@@ -0,0 +1,121 @@
+/*
+ * Copyright 2015-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ASTAR_AVOID_H
+#define ASTAR_AVOID_H
+
+#include <iostream>
+#include <vector>
+#include <thread>
+#include <mutex>
+
+#include <ros/ros.h>
+#include <tf/transform_listener.h>
+#include <std_msgs/Int32.h>
+#include <std_msgs/String.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/TwistStamped.h>
+#include <autoware_msgs/LaneArray.h>
+
+#include "waypoint_follower/libwaypoint_follower.h"
+#include "astar_search/astar_search.h"
+
+class AstarAvoid
+{
+public:
+  typedef enum STATE
+  {
+    INITIALIZING = -1,
+    RELAYING = 0,
+    STOPPING = 1,
+    PLANNING = 2,
+    AVOIDING = 3
+  } State;
+
+  AstarAvoid();
+  ~AstarAvoid();
+  void run();
+
+private:
+  // ros
+  ros::NodeHandle nh_, private_nh_;
+  ros::Publisher safety_waypoints_pub_;
+  ros::Subscriber costmap_sub_;
+  ros::Subscriber current_pose_sub_;
+  ros::Subscriber current_velocity_sub_;
+  ros::Subscriber base_waypoints_sub_;
+  ros::Subscriber closest_waypoint_sub_;
+  ros::Subscriber obstacle_waypoint_sub_;
+  ros::Subscriber state_sub_;
+  ros::Rate *rate_;
+  tf::TransformListener tf_listener_;
+
+  // params
+  int safety_waypoints_size_;   // output waypoint size [-]
+  double update_rate_;          // publishing rate [Hz]
+
+  bool enable_avoidance_;           // enable avoidance mode
+  double avoid_waypoints_velocity_; // constant velocity on planned waypoints [km/h]
+  double avoid_start_velocity_;     // self velocity for staring avoidance behavior [km/h]
+  double replan_interval_;          // replan interval for avoidance planning [Hz]
+  int search_waypoints_size_;       // range of waypoints for incremental search [-]
+  int search_waypoints_delta_;      // skipped waypoints for incremental search [-]
+
+  // classes
+  AstarSearch astar_;
+  State state_;
+
+  // threads
+  std::thread publish_thread_;
+  std::mutex mutex_;
+
+  // variables
+  bool terminate_thread_;
+  bool found_avoid_path_;
+  int closest_waypoint_index_;
+  int obstacle_waypoint_index_;
+  nav_msgs::OccupancyGrid costmap_;
+  autoware_msgs::Lane base_waypoints_;
+  autoware_msgs::Lane avoid_waypoints_;
+  autoware_msgs::Lane safety_waypoints_;
+  geometry_msgs::PoseStamped current_pose_local_, current_pose_global_;
+  geometry_msgs::PoseStamped goal_pose_local_, goal_pose_global_;
+  geometry_msgs::TwistStamped current_velocity_;
+  tf::Transform local2costmap_;  // local frame (e.g. velodyne) -> costmap origin
+
+  bool costmap_initialized_;
+  bool current_pose_initialized_;
+  bool current_velocity_initialized_;
+  bool base_waypoints_initialized_;
+  bool closest_waypoint_initialized_;
+
+  // functions, callback
+  void costmapCallback(const nav_msgs::OccupancyGrid& msg);
+  void currentPoseCallback(const geometry_msgs::PoseStamped& msg);
+  void currentVelocityCallback(const geometry_msgs::TwistStamped& msg);
+  void baseWaypointsCallback(const autoware_msgs::Lane& msg);
+  void closestWaypointCallback(const std_msgs::Int32& msg);
+  void obstacleWaypointCallback(const std_msgs::Int32& msg);
+
+  // functions
+  bool checkInitialized();
+  bool planAvoidWaypoints(int& end_of_avoid_index);
+  void mergeAvoidWaypoints(const nav_msgs::Path& path, const int& end_of_avoid_index);
+  void publishWaypoints();
+  tf::Transform getTransform(const std::string& from, const std::string& to);
+};
+
+#endif
diff --git a/ros/src/computing/planning/motion/packages/astar_planner/interface.yaml b/ros/src/computing/planning/motion/packages/waypoint_planner/interface.yaml
similarity index 62%
rename from ros/src/computing/planning/motion/packages/astar_planner/interface.yaml
rename to ros/src/computing/planning/motion/packages/waypoint_planner/interface.yaml
index 535f9a1e02c..0deaa2f7293 100644
--- a/ros/src/computing/planning/motion/packages/astar_planner/interface.yaml
+++ b/ros/src/computing/planning/motion/packages/waypoint_planner/interface.yaml
@@ -1,12 +1,8 @@
 - name: /obstacle_avoid
   publish: [/astar_path, /safety_waypoints, /astar_debug_poses, /astar_footprint]
   subscribe: [/grid_map_visualization/distance_transform, /current_pose, /move_base_simple/goal]
-- name: /udon_translator
-  publish: [/obstacle_sim_points, /obstacle_sim_pointcloud, /astar_sim_obstacle]
-  subscribe: [/move_base_simple/goal]
 - name: /velocity_set
   publish: [/detection_range, /obstacle, /obstacle_waypoint, /astar/final_waypoints,
     /final_waypoints]
   subscribe: [/safety_waypoints, /current_velocity, /config/velocity_set, /points_no_ground,
-    /localizer_pose, /current_pose, /obstacle_sim_pointcloud, /state/stopline_wpid,
-    /vector_map_info/*]
+    /localizer_pose, /current_pose, /state/stopline_wpid, /vector_map_info/*]
diff --git a/ros/src/computing/planning/motion/packages/waypoint_planner/launch/astar_avoid.launch b/ros/src/computing/planning/motion/packages/waypoint_planner/launch/astar_avoid.launch
new file mode 100644
index 00000000000..e91ac124a6a
--- /dev/null
+++ b/ros/src/computing/planning/motion/packages/waypoint_planner/launch/astar_avoid.launch
@@ -0,0 +1,66 @@
+<launch>
+
+  <!-- Relay behavior configurations -->
+  <arg name="safety_waypoints_size" default="100" />
+  <arg name="update_rate" default="10" />
+
+  <!-- Avoidance behavior configurations -->
+  <arg name="costmap_topic" default="semantics/costmap_generator/occupancy_grid" />
+  <arg name="enable_avoidance" default="false" />
+  <arg name="avoid_waypoints_velocity" default="10.0" />
+  <arg name="avoid_start_velocity" default="3.0" />
+  <arg name="replan_interval" default="2.0" />
+  <arg name="search_waypoints_size" default="50" />
+  <arg name="search_waypoints_delta" default="2" />
+
+  <!-- A* search configurations -->
+  <arg name="use_back" default="false" />
+  <arg name="use_potential_heuristic" default="true" />
+  <arg name="use_wavefront_heuristic" default="false" />
+  <arg name="time_limit" default="1000.0" />
+  <arg name="robot_length" default="4.5" />
+  <arg name="robot_width" default="1.75" />
+  <arg name="robot_base2back" default="1.0" />
+  <arg name="minimum_turning_radius" default="6.0" />
+  <arg name="theta_size" default="48" />
+  <arg name="curve_weight" default="1.2" />
+  <arg name="reverse_weight" default="2.00" />
+  <arg name="lateral_goal_range" default="0.5" />
+  <arg name="longitudinal_goal_range" default="2.0" />
+  <arg name="angle_goal_range" default="6.0" />
+  <arg name="obstacle_threshold" default="100" />
+  <arg name="potential_weight" default="10.0" />
+  <arg name="distance_heuristic_weight" default="1.0" />
+
+  <node pkg="waypoint_planner" type="astar_avoid" name="astar_avoid" output="screen">
+    <param name="safety_waypoints_size" value="$(arg safety_waypoints_size)" />
+    <param name="update_rate" value="$(arg update_rate)" />
+
+    <remap from="costmap" to="$(arg costmap_topic)" />
+    <param name="enable_avoidance" value="$(arg enable_avoidance)" />
+    <param name="search_waypoints_size" value="$(arg search_waypoints_size)" />
+    <param name="search_waypoints_delta" value="$(arg search_waypoints_delta)" />
+    <param name="avoid_waypoints_velocity" value="$(arg avoid_waypoints_velocity)" />
+    <param name="avoid_start_velocity" value="$(arg avoid_start_velocity)" />
+    <param name="replan_interval" value="$(arg replan_interval)" />
+
+    <param name="use_back" value="$(arg use_back)" />
+    <param name="use_potential_heuristic" value="$(arg use_potential_heuristic)" />
+    <param name="use_wavefront_heuristic" value="$(arg use_wavefront_heuristic)" />
+    <param name="time_limit" value="$(arg time_limit)" />
+    <param name="robot_length" value="$(arg robot_length)" />
+    <param name="robot_width" value="$(arg robot_width)" />
+    <param name="robot_base2back" value="$(arg robot_base2back)" />
+    <param name="minimum_turning_radius" value="$(arg minimum_turning_radius)" />
+    <param name="theta_size" value="$(arg theta_size)" />
+    <param name="angle_goal_range" value="$(arg angle_goal_range)" />
+    <param name="curve_weight" value="$(arg curve_weight)" />
+    <param name="reverse_weight" value="$(arg reverse_weight)" />
+    <param name="lateral_goal_range" value="$(arg lateral_goal_range)" />
+    <param name="longitudinal_goal_range" value="$(arg longitudinal_goal_range)" />
+    <param name="obstacle_threshold" value="$(arg obstacle_threshold)" />
+    <param name="potential_weight" value="$(arg potential_weight)" />
+    <param name="distance_heuristic_weight" value="$(arg distance_heuristic_weight)" />
+  </node>
+
+</launch>
diff --git a/ros/src/computing/planning/motion/packages/astar_planner/launch/velocity_set.launch b/ros/src/computing/planning/motion/packages/waypoint_planner/launch/velocity_set.launch
similarity index 91%
rename from ros/src/computing/planning/motion/packages/astar_planner/launch/velocity_set.launch
rename to ros/src/computing/planning/motion/packages/waypoint_planner/launch/velocity_set.launch
index 6e08aaf27b3..ee344be4fc7 100644
--- a/ros/src/computing/planning/motion/packages/astar_planner/launch/velocity_set.launch
+++ b/ros/src/computing/planning/motion/packages/waypoint_planner/launch/velocity_set.launch
@@ -8,7 +8,7 @@
   <arg name="enable_multiple_crosswalk_detection" default="true" />
   <arg name="enablePlannerDynamicSwitch" default="false" />
 
-  <node pkg="astar_planner" type="velocity_set" name="velocity_set" output="screen">
+  <node pkg="waypoint_planner" type="velocity_set" name="velocity_set" output="screen">
     <param name="use_crosswalk_detection" value="$(arg use_crosswalk_detection)" />
     <param name="enable_multiple_crosswalk_detection" value="$(arg enable_multiple_crosswalk_detection)" />
     <param name="points_topic" value="$(arg points_topic)" />
diff --git a/ros/src/computing/planning/motion/packages/astar_planner/package.xml b/ros/src/computing/planning/motion/packages/waypoint_planner/package.xml
similarity index 69%
rename from ros/src/computing/planning/motion/packages/astar_planner/package.xml
rename to ros/src/computing/planning/motion/packages/waypoint_planner/package.xml
index a351946f6f4..5645c45e1dd 100644
--- a/ros/src/computing/planning/motion/packages/astar_planner/package.xml
+++ b/ros/src/computing/planning/motion/packages/waypoint_planner/package.xml
@@ -1,10 +1,13 @@
 <?xml version="1.0"?>
 <package>
-  <name>astar_planner</name>
+  <name>waypoint_planner</name>
   <version>1.10.0</version>
-  <description>The astar_planner package</description>
+  <description>The waypoint_planner package</description>
 
-  <maintainer email="antm678@ertl.jp">ando</maintainer>
+  <maintainer email="aohsato@gmail.com">Akihito OHSATO</maintainer>
+
+  <author email="aohsato@gmail.com">Akihito OHSATO</author>
+  <author email="antm678@ertl.jp">ando</author>
 
   <license>Apache 2</license>
 
@@ -16,6 +19,7 @@
   <build_depend>std_msgs</build_depend>
   <build_depend>tf</build_depend>
   <build_depend>vector_map</build_depend>
+  <build_depend>astar_search</build_depend>
   <build_depend>autoware_health_checker</build_depend>
 
   <run_depend>roscpp</run_depend>
@@ -24,6 +28,7 @@
   <run_depend>waypoint_follower</run_depend>
   <run_depend>autoware_msgs</run_depend>
   <run_depend>vector_map</run_depend>
+  <run_depend>astar_search</run_depend>
   <run_depend>autoware_health_checker</run_depend>
 
   <export>
diff --git a/ros/src/computing/planning/motion/packages/waypoint_planner/src/astar_avoid/astar_avoid.cpp b/ros/src/computing/planning/motion/packages/waypoint_planner/src/astar_avoid/astar_avoid.cpp
new file mode 100644
index 00000000000..275cf549647
--- /dev/null
+++ b/ros/src/computing/planning/motion/packages/waypoint_planner/src/astar_avoid/astar_avoid.cpp
@@ -0,0 +1,386 @@
+/*
+ * Copyright 2015-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "waypoint_planner/astar_avoid/astar_avoid.h"
+
+AstarAvoid::AstarAvoid()
+  : nh_()
+  , private_nh_("~")
+  , closest_waypoint_index_(-1)
+  , obstacle_waypoint_index_(-1)
+  , costmap_initialized_(false)
+  , current_pose_initialized_(false)
+  , current_velocity_initialized_(false)
+  , base_waypoints_initialized_(false)
+  , closest_waypoint_initialized_(false)
+  , terminate_thread_(false)
+{
+  private_nh_.param<int>("safety_waypoints_size", safety_waypoints_size_, 100);
+  private_nh_.param<double>("update_rate", update_rate_, 10.0);
+
+  private_nh_.param<bool>("enable_avoidance", enable_avoidance_, false);
+  private_nh_.param<double>("avoid_waypoints_velocity", avoid_waypoints_velocity_, 10.0);
+  private_nh_.param<double>("avoid_start_velocity", avoid_start_velocity_, 5.0);
+  private_nh_.param<double>("replan_interval", replan_interval_, 2.0);
+  private_nh_.param<int>("search_waypoints_size", search_waypoints_size_, 50);
+  private_nh_.param<int>("search_waypoints_delta", search_waypoints_delta_, 2);
+
+  safety_waypoints_pub_ = nh_.advertise<autoware_msgs::Lane>("safety_waypoints", 1, true);
+  costmap_sub_ = nh_.subscribe("costmap", 1, &AstarAvoid::costmapCallback, this);
+  current_pose_sub_ = nh_.subscribe("current_pose", 1, &AstarAvoid::currentPoseCallback, this);
+  current_velocity_sub_ = nh_.subscribe("current_velocity", 1, &AstarAvoid::currentVelocityCallback, this);
+  base_waypoints_sub_ = nh_.subscribe("base_waypoints", 1, &AstarAvoid::baseWaypointsCallback, this);
+  closest_waypoint_sub_ = nh_.subscribe("closest_waypoint", 1, &AstarAvoid::closestWaypointCallback, this);
+  obstacle_waypoint_sub_ = nh_.subscribe("obstacle_waypoint", 1, &AstarAvoid::obstacleWaypointCallback, this);
+
+  rate_ = new ros::Rate(update_rate_);
+}
+
+AstarAvoid::~AstarAvoid()
+{
+  publish_thread_.join();
+}
+
+void AstarAvoid::costmapCallback(const nav_msgs::OccupancyGrid& msg)
+{
+  costmap_ = msg;
+  tf::poseMsgToTF(costmap_.info.origin, local2costmap_);
+  costmap_initialized_ = true;
+}
+
+void AstarAvoid::currentPoseCallback(const geometry_msgs::PoseStamped& msg)
+{
+  current_pose_global_ = msg;
+
+  if (!enable_avoidance_)
+  {
+    current_pose_initialized_ = true;
+  }
+  else
+  {
+    current_pose_local_.pose = transformPose(
+        current_pose_global_.pose, getTransform(costmap_.header.frame_id, current_pose_global_.header.frame_id));
+    current_pose_local_.header.frame_id = costmap_.header.frame_id;
+    current_pose_local_.header.stamp = current_pose_global_.header.stamp;
+    current_pose_initialized_ = true;
+  }
+}
+
+void AstarAvoid::currentVelocityCallback(const geometry_msgs::TwistStamped& msg)
+{
+  current_velocity_ = msg;
+  current_velocity_initialized_ = true;
+}
+
+void AstarAvoid::baseWaypointsCallback(const autoware_msgs::Lane& msg)
+{
+  base_waypoints_ = msg;
+  base_waypoints_initialized_ = true;
+}
+
+void AstarAvoid::closestWaypointCallback(const std_msgs::Int32& msg)
+{
+  closest_waypoint_index_ = msg.data;
+  closest_waypoint_initialized_ = true;
+}
+
+void AstarAvoid::obstacleWaypointCallback(const std_msgs::Int32& msg)
+{
+  obstacle_waypoint_index_ = msg.data;
+}
+
+void AstarAvoid::run()
+{
+  // check topics
+  state_ = AstarAvoid::STATE::INITIALIZING;
+
+  while (ros::ok())
+  {
+    ros::spinOnce();
+    if (checkInitialized())
+    {
+      break;
+    }
+    ROS_WARN("Waiting for subscribing topics...");
+    ros::Duration(1.0).sleep();
+  }
+
+  // main loop
+  int end_of_avoid_index = -1;
+  ros::WallTime start_plan_time = ros::WallTime::now();
+  ros::WallTime start_avoid_time = ros::WallTime::now();
+
+  // reset obstacle index
+  obstacle_waypoint_index_ = -1;
+
+  // relaying mode at startup
+  state_ = AstarAvoid::STATE::RELAYING;
+
+  // start publish thread
+  publish_thread_ = std::thread(&AstarAvoid::publishWaypoints, this);
+
+  while (ros::ok())
+  {
+    ros::spinOnce();
+
+    // relay mode
+    if (!enable_avoidance_)
+    {
+      rate_->sleep();
+      continue;
+    }
+
+    // avoidance mode
+    bool found_obstacle = (obstacle_waypoint_index_ >= 0);
+    bool avoid_velocity = (current_velocity_.twist.linear.x < avoid_start_velocity_ / 3.6);
+
+    // update state
+    if (state_ == AstarAvoid::STATE::RELAYING)
+    {
+      avoid_waypoints_ = base_waypoints_;
+
+      if (found_obstacle)
+      {
+        ROS_INFO("RELAYING -> STOPPING, Decelerate for stopping");
+        state_ = AstarAvoid::STATE::STOPPING;
+      }
+    }
+    else if (state_ == AstarAvoid::STATE::STOPPING)
+    {
+      bool replan = ((ros::WallTime::now() - start_plan_time).toSec() > replan_interval_);
+
+      if (!found_obstacle)
+      {
+        ROS_INFO("STOPPING -> RELAYING, Obstacle disappers");
+        state_ = AstarAvoid::STATE::RELAYING;
+      }
+      else if (replan && avoid_velocity)
+      {
+        ROS_INFO("STOPPING -> PLANNING, Start A* planning");
+        state_ = AstarAvoid::STATE::PLANNING;
+      }
+    }
+    else if (state_ == AstarAvoid::STATE::PLANNING)
+    {
+      start_plan_time = ros::WallTime::now();
+
+      if (planAvoidWaypoints(end_of_avoid_index))
+      {
+        ROS_INFO("PLANNING -> AVOIDING, Found path");
+        state_ = AstarAvoid::STATE::AVOIDING;
+        start_avoid_time = ros::WallTime::now();
+      }
+      else
+      {
+        ROS_INFO("PLANNING -> STOPPING, Cannot find path");
+        state_ = AstarAvoid::STATE::STOPPING;
+      }
+    }
+    else if (state_ == AstarAvoid::STATE::AVOIDING)
+    {
+      bool reached = (getClosestWaypoint(avoid_waypoints_, current_pose_global_.pose) > end_of_avoid_index);
+      if (reached)
+      {
+        ROS_INFO("AVOIDING -> RELAYING, Reached goal");
+        state_ = AstarAvoid::STATE::RELAYING;
+      }
+      else if (found_obstacle && avoid_velocity)
+      {
+        bool replan = ((ros::WallTime::now() - start_avoid_time).toSec() > replan_interval_);
+        if (replan)
+        {
+          ROS_INFO("AVOIDING -> STOPPING, Abort avoiding");
+          state_ = AstarAvoid::STATE::STOPPING;
+        }
+      }
+    }
+
+    rate_->sleep();
+  }
+
+  terminate_thread_ = true;
+}
+
+bool AstarAvoid::checkInitialized()
+{
+  bool initialized = false;
+
+  // check for relay mode
+  initialized = (current_pose_initialized_ && closest_waypoint_initialized_ && base_waypoints_initialized_ &&
+                 (closest_waypoint_index_ >= 0));
+
+  // check for avoidance mode, additionally
+  if (enable_avoidance_)
+  {
+    initialized = (initialized && (current_velocity_initialized_ && costmap_initialized_));
+  }
+
+  return initialized;
+}
+
+bool AstarAvoid::planAvoidWaypoints(int& end_of_avoid_index)
+{
+  bool found_path = false;
+  int closest_waypoint_index = getClosestWaypoint(avoid_waypoints_, current_pose_global_.pose);
+
+  // update goal pose incrementally and execute A* search
+  for (int i = search_waypoints_delta_; i < static_cast<int>(search_waypoints_size_); i += search_waypoints_delta_)
+  {
+    // update goal index
+    int goal_waypoint_index = closest_waypoint_index + obstacle_waypoint_index_ + i;
+    if (goal_waypoint_index >= static_cast<int>(avoid_waypoints_.waypoints.size()))
+    {
+      break;
+    }
+
+    // update goal pose
+    goal_pose_global_ = avoid_waypoints_.waypoints[goal_waypoint_index].pose;
+    goal_pose_local_.header = costmap_.header;
+    goal_pose_local_.pose = transformPose(goal_pose_global_.pose,
+                                          getTransform(costmap_.header.frame_id, goal_pose_global_.header.frame_id));
+
+    // initialize costmap for A* search
+    astar_.initialize(costmap_);
+
+    // execute astar search
+    // ros::WallTime start = ros::WallTime::now();
+    found_path = astar_.makePlan(current_pose_local_.pose, goal_pose_local_.pose);
+    // ros::WallTime end = ros::WallTime::now();
+
+    static ros::Publisher pub = nh_.advertise<nav_msgs::Path>("debug", 1, true);
+
+    // ROS_INFO("Astar planning: %f [s], at index = %d", (end - start).toSec(), goal_waypoint_index);
+
+    if (found_path)
+    {
+      pub.publish(astar_.getPath());
+      end_of_avoid_index = goal_waypoint_index;
+      mergeAvoidWaypoints(astar_.getPath(), end_of_avoid_index);
+      if (avoid_waypoints_.waypoints.size() > 0)
+      {
+        ROS_INFO("Found GOAL at index = %d", goal_waypoint_index);
+        astar_.reset();
+        return true;
+      }
+      else
+      {
+        found_path = false;
+      }
+    }
+    astar_.reset();
+  }
+
+  ROS_ERROR("Can't find goal...");
+  return false;
+}
+
+void AstarAvoid::mergeAvoidWaypoints(const nav_msgs::Path& path, const int& end_of_avoid_index)
+{
+  autoware_msgs::Lane current_waypoints = avoid_waypoints_;
+
+  // reset
+  std::lock_guard<std::mutex> lock(mutex_);
+  avoid_waypoints_.waypoints.clear();
+
+  // add waypoints before start index
+  int closest_waypoint_index = getClosestWaypoint(current_waypoints, current_pose_global_.pose);
+  for (int i = 0; i < closest_waypoint_index; ++i)
+  {
+    avoid_waypoints_.waypoints.push_back(current_waypoints.waypoints.at(i));
+  }
+
+  // set waypoints for avoiding
+  for (const auto& pose : path.poses)
+  {
+    autoware_msgs::Waypoint wp;
+    wp.pose.header = avoid_waypoints_.header;
+    wp.pose.pose = transformPose(pose.pose, getTransform(avoid_waypoints_.header.frame_id, pose.header.frame_id));
+    wp.pose.pose.position.z = current_pose_global_.pose.position.z;  // height = const
+    wp.twist.twist.linear.x = avoid_waypoints_velocity_ / 3.6;       // velocity = const
+    avoid_waypoints_.waypoints.push_back(wp);
+  }
+
+  // add waypoints after goal index
+  for (int i = end_of_avoid_index; i < static_cast<int>(current_waypoints.waypoints.size()); ++i)
+  {
+    avoid_waypoints_.waypoints.push_back(current_waypoints.waypoints.at(i));
+  }
+}
+
+void AstarAvoid::publishWaypoints()
+{
+  autoware_msgs::Lane current_waypoints;
+
+  while (!terminate_thread_)
+  {
+    // select waypoints
+    switch (state_)
+    {
+      case AstarAvoid::STATE::RELAYING:
+        current_waypoints = base_waypoints_;
+        break;
+      case AstarAvoid::STATE::STOPPING:
+        // do nothing, keep current waypoints
+        break;
+      case AstarAvoid::STATE::PLANNING:
+        // do nothing, keep current waypoints
+        break;
+      case AstarAvoid::STATE::AVOIDING:
+        current_waypoints = avoid_waypoints_;
+        break;
+      default:
+        current_waypoints = base_waypoints_;
+        break;
+    }
+
+    autoware_msgs::Lane safety_waypoints;
+    safety_waypoints.header = current_waypoints.header;
+    safety_waypoints.increment = current_waypoints.increment;
+
+    // push waypoints from closest index
+    for (int i = 0; i < safety_waypoints_size_; ++i)
+    {
+      int index = getClosestWaypoint(current_waypoints, current_pose_global_.pose) + i;
+      if (index < 0 || static_cast<int>(current_waypoints.waypoints.size()) <= index)
+      {
+        break;
+      }
+      const autoware_msgs::Waypoint& wp = current_waypoints.waypoints[index];
+      safety_waypoints.waypoints.push_back(wp);
+    }
+
+    if (safety_waypoints.waypoints.size() > 0)
+    {
+      safety_waypoints_pub_.publish(safety_waypoints);
+    }
+
+    rate_->sleep();
+  }
+}
+
+tf::Transform AstarAvoid::getTransform(const std::string& from, const std::string& to)
+{
+  tf::StampedTransform stf;
+  try
+  {
+    tf_listener_.lookupTransform(from, to, ros::Time(0), stf);
+  }
+  catch (tf::TransformException ex)
+  {
+    ROS_ERROR("%s", ex.what());
+  }
+  return stf;
+}
diff --git a/ros/src/computing/planning/motion/packages/waypoint_planner/src/astar_avoid/astar_avoid_node.cpp b/ros/src/computing/planning/motion/packages/waypoint_planner/src/astar_avoid/astar_avoid_node.cpp
new file mode 100644
index 00000000000..41591c6c013
--- /dev/null
+++ b/ros/src/computing/planning/motion/packages/waypoint_planner/src/astar_avoid/astar_avoid_node.cpp
@@ -0,0 +1,25 @@
+/*
+ * Copyright 2018-2019 Autoware Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "waypoint_planner/astar_avoid/astar_avoid.h"
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "astar_avoid");
+  AstarAvoid node;
+  node.run();
+  return 0;
+}
diff --git a/ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/libvelocity_set.cpp b/ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/libvelocity_set.cpp
similarity index 99%
rename from ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/libvelocity_set.cpp
rename to ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/libvelocity_set.cpp
index f816d1603c1..067d95fe110 100644
--- a/ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/libvelocity_set.cpp
+++ b/ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/libvelocity_set.cpp
@@ -1,4 +1,4 @@
-#include "libvelocity_set.h"
+#include "../../src/velocity_set/libvelocity_set.h"
 
 // extract edge points from zebra zone
 std::vector<geometry_msgs::Point> removeNeedlessPoints(std::vector<geometry_msgs::Point> &area_points)
diff --git a/ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/libvelocity_set.h b/ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/libvelocity_set.h
similarity index 100%
rename from ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/libvelocity_set.h
rename to ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/libvelocity_set.h
diff --git a/ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/velocity_set.cpp b/ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set.cpp
similarity index 99%
rename from ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/velocity_set.cpp
rename to ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set.cpp
index 27f55aa9020..cfcdd2698f7 100644
--- a/ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/velocity_set.cpp
+++ b/ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set.cpp
@@ -19,9 +19,9 @@
 #include <std_msgs/ColorRGBA.h>
 #include <iostream>
 
-#include "libvelocity_set.h"
-#include "velocity_set_info.h"
-#include "velocity_set_path.h"
+#include "../../src/velocity_set/libvelocity_set.h"
+#include "../../src/velocity_set/velocity_set_info.h"
+#include "../../src/velocity_set/velocity_set_path.h"
 
 namespace
 {
@@ -556,7 +556,6 @@ int main(int argc, char** argv)
   ros::Subscriber points_sub = nh.subscribe(points_topic, 1, &VelocitySetInfo::pointsCallback, &vs_info);
   ros::Subscriber localizer_sub = nh.subscribe("localizer_pose", 1, &VelocitySetInfo::localizerPoseCallback, &vs_info);
   ros::Subscriber control_pose_sub = nh.subscribe("current_pose", 1, &VelocitySetInfo::controlPoseCallback, &vs_info);
-  ros::Subscriber obstacle_sim_points_sub = nh.subscribe("obstacle_sim_pointcloud", 1, &VelocitySetInfo::obstacleSimCallback, &vs_info);
   ros::Subscriber detectionresult_sub = nh.subscribe("/state/stopline_wpidx", 1, &VelocitySetInfo::detectionCallback, &vs_info);
 
   // vector map subscriber
diff --git a/ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/velocity_set_info.cpp b/ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set_info.cpp
similarity index 91%
rename from ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/velocity_set_info.cpp
rename to ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set_info.cpp
index 32119763400..76f66268a1c 100644
--- a/ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/velocity_set_info.cpp
+++ b/ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set_info.cpp
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "velocity_set_info.h"
+#include "../../src/velocity_set/velocity_set_info.h"
 
 void joinPoints(const pcl::PointCloud<pcl::PointXYZ>& points1, pcl::PointCloud<pcl::PointXYZ>* points2)
 {
@@ -37,7 +37,6 @@ VelocitySetInfo::VelocitySetInfo()
     velocity_change_limit_(2.77),
     temporal_waypoints_size_(100),
     set_pose_(false),
-    use_obstacle_sim_(false),
     wpidx_detectionResultByOtherNodes_(-1)
 {
   ros::NodeHandle private_nh_("~");
@@ -93,11 +92,6 @@ void VelocitySetInfo::pointsCallback(const sensor_msgs::PointCloud2ConstPtr &msg
     points_.push_back(v);
   }
 
-  if (use_obstacle_sim_)
-  {
-    joinPoints(obstacle_sim_points_, &points_);
-    obstacle_sim_points_.clear();
-  }
 }
 
 void VelocitySetInfo::detectionCallback(const std_msgs::Int32 &msg)
@@ -119,10 +113,3 @@ void VelocitySetInfo::localizerPoseCallback(const geometry_msgs::PoseStampedCons
   node_status_publisher_ptr_->CHECK_RATE("/topic/rate/current_pose/slow",8,5,1,"topic current_pose subscribe rate low.");
   localizer_pose_ = *msg;
 }
-
-void VelocitySetInfo::obstacleSimCallback(const sensor_msgs::PointCloud2ConstPtr &msg)
-{
-  pcl::fromROSMsg(*msg, obstacle_sim_points_);
-
-  use_obstacle_sim_ = true;
-}
diff --git a/ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/velocity_set_info.h b/ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set_info.h
similarity index 96%
rename from ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/velocity_set_info.h
rename to ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set_info.h
index 13afcc35c76..ba1887571d3 100644
--- a/ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/velocity_set_info.h
+++ b/ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set_info.h
@@ -48,11 +48,9 @@ class VelocitySetInfo
   double remove_points_upto_;
 
   pcl::PointCloud<pcl::PointXYZ> points_;
-  pcl::PointCloud<pcl::PointXYZ> obstacle_sim_points_;
   geometry_msgs::PoseStamped localizer_pose_;  // pose of sensor
   geometry_msgs::PoseStamped control_pose_;    // pose of base_link
   bool set_pose_;
-  bool use_obstacle_sim_;
 
   std::shared_ptr<autoware_health_checker::NodeStatusPublisher> node_status_publisher_ptr_;
 
@@ -65,7 +63,6 @@ class VelocitySetInfo
   void pointsCallback(const sensor_msgs::PointCloud2ConstPtr &msg);
   void controlPoseCallback(const geometry_msgs::PoseStampedConstPtr &msg);
   void localizerPoseCallback(const geometry_msgs::PoseStampedConstPtr &msg);
-  void obstacleSimCallback(const sensor_msgs::PointCloud2ConstPtr &msg);
   void detectionCallback(const std_msgs::Int32 &msg);
 
   void clearPoints();
diff --git a/ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/velocity_set_path.cpp b/ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set_path.cpp
similarity index 99%
rename from ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/velocity_set_path.cpp
rename to ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set_path.cpp
index 9cbad4723ca..e1b836185ae 100644
--- a/ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/velocity_set_path.cpp
+++ b/ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set_path.cpp
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "velocity_set_path.h"
+#include "../../src/velocity_set/velocity_set_path.h"
 
 VelocitySetPath::VelocitySetPath()
   : set_path_(false),
diff --git a/ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/velocity_set_path.h b/ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set_path.h
similarity index 100%
rename from ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/velocity_set_path.h
rename to ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set_path.h
diff --git a/ros/src/util/packages/runtime_manager/scripts/computing.yaml b/ros/src/util/packages/runtime_manager/scripts/computing.yaml
index 5e96beb751e..34e1def7cfc 100755
--- a/ros/src/util/packages/runtime_manager/scripts/computing.yaml
+++ b/ros/src/util/packages/runtime_manager/scripts/computing.yaml
@@ -192,12 +192,10 @@ subs :
         desc : lidar_cnn_segmentation_baidu_detect. Requires Caffe framework
         cmd  : roslaunch lidar_apollo_cnn_seg_detect lidar_apollo_cnn_seg_detect.launch
         param: lidar_cnn_baidu_params
-
       - name : lidar_point_pillars
         desc : lidar_point_pillars. Requires CUDA and TensorRT
         cmd  : roslaunch lidar_point_pillars lidar_point_pillars.launch
         param: lidar_point_pillars_params
-
       - name : lidar_naive_l_shape_detect
         desc : lidar_naive_l_shape_detect desc sample
         cmd  : roslaunch lidar_naive_l_shape_detect lidar_naive_l_shape_detect.launch
@@ -212,6 +210,13 @@ subs :
         gui  :
           sync :
             func : self.button_synchronization.GetValue()
+      - name : lidar_fake_perception
+        desc : lidar_fake_perception desc sample
+        cmd  : roslaunch lidar_fake_perception lidar_fake_perception.launch
+        param: lidar_fake_perception_param
+        gui  :
+          sync :
+            func : self.button_synchronization.GetValue()
 
     - name : fusion_tools
       desc : fusion_tools
@@ -426,7 +431,7 @@ subs :
       - name : astar_navi
         desc : astar_navi desc sample
         cmd  : roslaunch freespace_planner astar_navi.launch
-        param: astar_navi
+        param: astar_navi_param
 #    - name : way_planner (OpenPlanner - old ver)
 #      desc : Global planner for OpenPlanner
 #      subs :
@@ -457,114 +462,6 @@ subs :
 #        desc : Feedforward PID waypoint follower
 #        cmd  : roslaunch ff_waypoint_follower ffwaypointfollower_car.launch
 #        param: ff_waypoint_follower
-    - name : OpenPlanner - Local planning
-      desc : Local Planner for OpenPlanner
-      subs :
-      - name : op_common_params
-        desc : load common local planning parameters
-        cmd  : roslaunch op_local_planner op_common_params.launch
-        param: op_common_params
-        gui  :
-          dialog_width  : 600
-          dialog_height : 550
-      - name : op_trajectory_generator
-        desc : generating candidate rollout trajectory from global path
-        cmd  : roslaunch op_local_planner op_trajectory_generator.launch
-        param: op_trajectory_generator
-      - name : op_motion_predictor
-        desc : predict behavior and trajectories for moving vehicles
-        cmd  : roslaunch op_local_planner op_motion_predictor.launch
-        param: op_motion_predictor
-      - name : op_trajectory_evaluator
-        desc : evaluate candidate rollout trajectory against the tracked obstacles
-        cmd  : roslaunch op_local_planner op_trajectory_evaluator.launch
-        param: op_trajectory_evaluator
-      - name : op_behavior_selector
-        desc : Decision making by selecting best behavior for local planner
-        cmd  : roslaunch op_local_planner op_behavior_selector.launch
-
-    - name : OpenPlanner - Utilities
-      desc : Testing UI, Loggers , ..
-      subs :
-      - name : op_pose2tf
-        desc : Publish transformation from ndt_pose read from rosbag file
-        cmd  : roslaunch op_utilities op_pose2tf.launch
-        param: op_pose2tf
-      - name : op_bag_player
-        desc : Send step by step simulation signal, read ready for localization rosbags and navigate them frame by frame
-        cmd  : roslaunch op_utilities op_bag_player.launch
-        param: op_bag_player
-    - name : OpenPlanner - Simulator
-      desc : Car, Signs, Detection Simulation for OpenPlanner Test
-      subs :
-      - name : op_perception_simulator
-        desc : Simulate euclidean cluster for LIDAR based object detection of simulated cars
-        cmd  : roslaunch op_simulation_package op_perception_simulator.launch
-        param: op_perception_simulator
-      - name : op_signs_simulator
-        desc : Simulate traffic Signs status for intersections included in the map
-        cmd  : roslaunch op_simulation_package op_signs_simulator.launch
-        param: op_signs_simulator
-      - name : op_car_simulator
-        desc : Simulate a car using OpenPlanner
-        cmd  : roslaunch op_simulation_package op_car_simulator_1.launch
-        param: op_car_simulator
-        gui  :
-          dialog_width  : 600
-          dialog_height : 550
-    - name : astar_planner
-      desc : astar_planner desc sample
-      subs :
-      - name : obstacle_avoid
-        desc : obstacle_avoid desc sample
-        cmd  : roslaunch astar_planner obstacle_avoid.launch
-        param: obstacle_avoid
-      - name : velocity_set
-        desc : velocity_set desc sample
-        cmd  : roslaunch astar_planner velocity_set.launch
-        param: velocity_set
-        gui  :
-          use_crosswalk_detection : { border : 4, flags : [ all ] }
-          enable_multiple_crosswalk_detection : { border : 4, flags : [ all ] }
-          dialog_width  : 800
-          dialog_height : 450
-    - name : lattice_planner
-      desc : lattice_planner desc sample
-      subs :
-      - name : lattice_velocity_set
-        desc : lattice_velocity_set desc sample
-        cmd  : roslaunch lattice_planner lattice_velocity_set.launch
-        param: lattice_velocity_set
-        gui  :
-          dialog_width  : 600
-          dialog_height : 450
-          use_crosswalk_detection : { border : 4, flags : [ all ] }
-      - name : path_select
-        desc : path_select desc sample
-        cmd  : rosrun lattice_planner path_select
-      - name : lattice_trajectory_gen
-        desc : lattice_trajectory_gen desc sample
-        cmd  : roslaunch lattice_planner lattice_trajectory_gen.launch
-        param: lane_follower_trajgen
-        gui  :
-          dialog_width  : 600
-          dialog_height : 450
-          velocity:
-            depend : param_flag
-            depend_bool : 'lambda v : v == 1'
-          lookahead_threshold:
-            depend : param_flag
-            depend_bool : 'lambda v : v == 1'
-          minimum_lookahead_threshold:
-            depend : param_flag
-            depend_bool : 'lambda v : v == 0'
-          threshold_ratio:
-            depend : param_flag
-            depend_bool : 'lambda v : v == 0'
-          stat_topic : [ lf ]
-      - name : lattice_twist_convert
-        desc : lattice_twist_convert desc sample
-        cmd  : rosrun lattice_planner lattice_twist_convert
 
     - name : waypoint_maker
       desc : waypoint_maker desc sample
@@ -666,6 +563,24 @@ subs :
          desc : waypoint_velocity_visualizer desc sample
          cmd  : roslaunch waypoint_maker waypoint_velocity_visualizer.launch
          param: waypoint_velocity_visualizer
+
+    - name : waypoint_planner
+      desc : waypoint_planner desc sample
+      subs :
+      - name : astar_avoid
+        desc : astar_avoid desc sample
+        cmd  : roslaunch waypoint_planner astar_avoid.launch
+        param: astar_avoid_param
+      - name : velocity_set
+        desc : velocity_set desc sample
+        cmd  : roslaunch waypoint_planner velocity_set.launch
+        param: velocity_set
+        gui  :
+          use_crosswalk_detection : { border : 4, flags : [ all ] }
+          enable_multiple_crosswalk_detection : { border : 4, flags : [ all ] }
+          dialog_width  : 800
+          dialog_height : 450
+
     - name : waypoint_follower
       desc : waypoint_follower desc sample
       subs :
@@ -705,6 +620,99 @@ subs :
            position_error :
              flags : [ nl ]
 
+    - name : OpenPlanner - Local planning
+      desc : Local Planner for OpenPlanner
+      subs :
+      - name : op_common_params
+        desc : load common local planning parameters
+        cmd  : roslaunch op_local_planner op_common_params.launch
+        param: op_common_params
+        gui  :
+          dialog_width  : 600
+          dialog_height : 550
+      - name : op_trajectory_generator
+        desc : generating candidate rollout trajectory from global path
+        cmd  : roslaunch op_local_planner op_trajectory_generator.launch
+        param: op_trajectory_generator
+      - name : op_motion_predictor
+        desc : predict behavior and trajectories for moving vehicles
+        cmd  : roslaunch op_local_planner op_motion_predictor.launch
+        param: op_motion_predictor
+      - name : op_trajectory_evaluator
+        desc : evaluate candidate rollout trajectory against the tracked obstacles
+        cmd  : roslaunch op_local_planner op_trajectory_evaluator.launch
+        param: op_trajectory_evaluator
+      - name : op_behavior_selector
+        desc : Decision making by selecting best behavior for local planner
+        cmd  : roslaunch op_local_planner op_behavior_selector.launch
+
+    - name : OpenPlanner - Utilities
+      desc : Testing UI, Loggers , ..
+      subs :
+      - name : op_pose2tf
+        desc : Publish transformation from ndt_pose read from rosbag file
+        cmd  : roslaunch op_utilities op_pose2tf.launch
+        param: op_pose2tf
+      - name : op_bag_player
+        desc : Send step by step simulation signal, read ready for localization rosbags and navigate them frame by frame
+        cmd  : roslaunch op_utilities op_bag_player.launch
+        param: op_bag_player
+    - name : OpenPlanner - Simulator
+      desc : Car, Signs, Detection Simulation for OpenPlanner Test
+      subs :
+      - name : op_perception_simulator
+        desc : Simulate euclidean cluster for LIDAR based object detection of simulated cars
+        cmd  : roslaunch op_simulation_package op_perception_simulator.launch
+        param: op_perception_simulator
+      - name : op_signs_simulator
+        desc : Simulate traffic Signs status for intersections included in the map
+        cmd  : roslaunch op_simulation_package op_signs_simulator.launch
+        param: op_signs_simulator
+      - name : op_car_simulator
+        desc : Simulate a car using OpenPlanner
+        cmd  : roslaunch op_simulation_package op_car_simulator_1.launch
+        param: op_car_simulator
+        gui  :
+          dialog_width  : 600
+          dialog_height : 550
+    - name : lattice_planner
+      desc : lattice_planner desc sample
+      subs :
+      - name : lattice_velocity_set
+        desc : lattice_velocity_set desc sample
+        cmd  : roslaunch lattice_planner lattice_velocity_set.launch
+        param: lattice_velocity_set
+        gui  :
+          dialog_width  : 600
+          dialog_height : 450
+          use_crosswalk_detection : { border : 4, flags : [ all ] }
+      - name : path_select
+        desc : path_select desc sample
+        cmd  : rosrun lattice_planner path_select
+      - name : lattice_trajectory_gen
+        desc : lattice_trajectory_gen desc sample
+        cmd  : roslaunch lattice_planner lattice_trajectory_gen.launch
+        param: lane_follower_trajgen
+        gui  :
+          dialog_width  : 600
+          dialog_height : 450
+          velocity:
+            depend : param_flag
+            depend_bool : 'lambda v : v == 1'
+          lookahead_threshold:
+            depend : param_flag
+            depend_bool : 'lambda v : v == 1'
+          minimum_lookahead_threshold:
+            depend : param_flag
+            depend_bool : 'lambda v : v == 0'
+          threshold_ratio:
+            depend : param_flag
+            depend_bool : 'lambda v : v == 0'
+          stat_topic : [ lf ]
+      - name : lattice_twist_convert
+        desc : lattice_twist_convert desc sample
+        cmd  : rosrun lattice_planner lattice_twist_convert
+
   - name : Decision
     desc : decision groups
     subs :
@@ -1626,34 +1634,51 @@ params :
         dash        : ''
         delim       : ':='
 
-  - name  : obstacle_avoid
+  - name  : astar_avoid_param
     vars  :
-    - name  : avoidance
-      desc  : if not checked, decide if we avoid by reading the current state
-      label : Avoidance
+    - name  : enable_avoidance
+      desc  : Enable avoidance mode
+      label : Enable Avoidance
       kind  : checkbox
       v     : False
       cmd_param:
-        dash     : ''
-        delim    : ':='
-    - name      : avoid_distance
-      desc      : Avoid distance from the obstacle
-      label     : Avoid Distance (m)
-      min       : 0.0
-      max       : 50.0
-      v         : 13.0
+        dash  : ''
+        delim : ':='
+    - name  : avoid_waypoints_velocity
+      desc  : Velocity on avoiding waypoints
+      label : Waypoint Velocity [km/h]
+      min   : 0.0
+      max   : 40.0
+      v     : 10.0
       cmd_param :
-        dash      : ''
-        delim     : ':='
-    - name      : avoid_velocity_limit_mps
-      desc      : if the current velocity exceeds this value, we do not avoid
-      label     : Avoid Velocity Limit (m/s)
-      min       : 0.0
-      max       : 20.0
-      v         : 4.0
+        dash  : ''
+        delim : ':='
+    - name  : avoid_start_velocity
+      desc  : Self velocity for staring avoidance behavior
+      label : Avoidance Start Velocity [km/h]
+      min   : 0.0
+      max   : 20.0
+      v     : 3.0
       cmd_param :
-        dash      : ''
-        delim     : ':='
+        dash  : ''
+        delim : ':='
+    - name  : replan_interval
+      desc  : Replan interval for avoidance planning
+      label : Replan Interval [s]
+      min   : 0.0
+      max   : 10.0
+      v     : 2.0
+      cmd_param :
+        dash  : ''
+        delim : ':='
+    - name  : costmap_topic
+      desc  : Costmap topic for avoidance planning
+      label : Costmap Topic
+      kind  : str
+      v     : semantics/costmap_generator/occupancy_grid
+      cmd_param:
+        dash  : ''
+        delim : ':='
 
   - name  : velocity_set
     topic : /config/velocity_set
@@ -2082,7 +2107,7 @@ params :
       max   : 1
       v     : 0
 
-    - name     : car
+    - name     : carHEAD
       desc     : car desc sample
       label    : Car
       kind     : checkbox
@@ -2460,7 +2485,7 @@ params :
       max       : 50
       v         : 10.0
 
-  - name  : astar_navi
+  - name  : astar_navi_param
     vars  :
     - name  : use_back
       desc  : Use reverse motion for planning
@@ -2468,17 +2493,34 @@ params :
       kind  : checkbox
       v     : False
       cmd_param:
-        dash     : ''
-        delim    : ':='
-    - name      : waypoint_velocity_kmph
-      desc      : Velocity of planned waypoints
-      label     : Waypoint Velocity
-      min       : 0.0
-      max       : 40.0
-      v         : 5.0
+        dash  : ''
+        delim : ':='
+    - name  : waypoints_velocity
+      desc  : Velocity on planned waypoints
+      label : Waypoint Velocity [km/h]
+      min   : 0.0
+      max   : 40.0
+      v     : 5.0
       cmd_param :
-        dash      : ''
-        delim     : ':='
+        dash  : ''
+        delim : ':='
+    - name  : update_rate
+      desc  : Replanning rate
+      label : Update Rate [Hz]
+      min   : 0.0
+      max   : 10.0
+      v     : 0.5
+      cmd_param :
+        dash  : ''
+        delim : ':='
+    - name  : costmap_topic
+      desc  : Costmap topic for planning
+      label : Costmap Topic
+      kind  : str
+      v     : semantics/costmap_generator/occupancy_grid
+      cmd_param :
+        dash  : ''
+        delim : ':='
 
   - name  : way_planner
     vars  :

From 52a2ba34f234215ca973d79e1bc7f72d0985b768 Mon Sep 17 00:00:00 2001
From: Kosuke Murakami <cirpue49@gmail.com>
Date: Thu, 14 Mar 2019 16:36:06 +0900
Subject: [PATCH 20/23] [fix] not predicting objects at x<=0 or y<=0 (#2122)

---
 .../naive_motion_predict/include/naive_motion_predict.h  | 1 +
 .../launch/naive_motion_predict.launch                   | 2 ++
 .../nodes/naive_motion_predict/naive_motion_predict.cpp  | 6 ++++--
 .../util/packages/runtime_manager/scripts/computing.yaml | 9 +++++++++
 4 files changed, 16 insertions(+), 2 deletions(-)

diff --git a/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/include/naive_motion_predict.h b/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/include/naive_motion_predict.h
index cba25ed41c6..1034b6cba47 100644
--- a/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/include/naive_motion_predict.h
+++ b/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/include/naive_motion_predict.h
@@ -54,6 +54,7 @@ class NaiveMotionPredict
   double interval_sec_;
   int num_prediction_;
   double sensor_height_;
+  double filter_out_close_object_threshold_;
 
   void objectsCallback(const autoware_msgs::DetectedObjectArray& input);
 
diff --git a/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/launch/naive_motion_predict.launch b/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/launch/naive_motion_predict.launch
index 9c44cd2c5bf..c48c9975253 100644
--- a/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/launch/naive_motion_predict.launch
+++ b/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/launch/naive_motion_predict.launch
@@ -3,12 +3,14 @@
     <arg name="interval_sec" default="0.1"/>
     <arg name="num_prediction" default="10"/>
     <arg name="sensor_height" default="2.0"/>
+    <arg name="filter_out_close_object_threshold" default="1.5"/>
     <arg name="input_topic" default="/detection/objects"/>
 
     <node pkg="naive_motion_predict" type="naive_motion_predict" name="naive_motion_predict">
         <param name="interval_sec" value="$(arg interval_sec)"/>
         <param name="num_prediction" value="$(arg num_prediction)"/>
         <param name="sensor_height" value="$(arg sensor_height)"/>
+        <param name="filter_out_close_object_threshold" value="$(arg filter_out_close_object_threshold)"/>
     </node>
 
     <remap from="/detection/objects" to="$(arg input_topic)"/>
diff --git a/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/nodes/naive_motion_predict/naive_motion_predict.cpp b/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/nodes/naive_motion_predict/naive_motion_predict.cpp
index 730cd3be486..02b29e082d8 100644
--- a/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/nodes/naive_motion_predict/naive_motion_predict.cpp
+++ b/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/nodes/naive_motion_predict/naive_motion_predict.cpp
@@ -24,6 +24,7 @@ NaiveMotionPredict::NaiveMotionPredict() :
   private_nh_.param<double>("interval_sec", interval_sec_, 0.1);
   private_nh_.param<int>("num_prediction", num_prediction_, 10);
   private_nh_.param<double>("sensor_height_", sensor_height_, 2.0);
+  private_nh_.param<double>("filter_out_close_object_threshold", filter_out_close_object_threshold_, 1.5);
 
   predicted_objects_pub_ = nh_.advertise<autoware_msgs::DetectedObjectArray>("/prediction/motion_predictor/objects", 1);
   predicted_paths_pub_ = nh_.advertise<visualization_msgs::MarkerArray>("/prediction/motion_predictor/path_markers", 1);
@@ -207,6 +208,8 @@ void NaiveMotionPredict::objectsCallback(const autoware_msgs::DetectedObjectArra
 
 bool NaiveMotionPredict::isObjectValid(const autoware_msgs::DetectedObject &in_object)
 {
+  double distance = std::sqrt(std::pow(in_object.pose.position.x,2)+
+                              std::pow(in_object.pose.position.y,2));
   if (!in_object.valid ||
       std::isnan(in_object.pose.orientation.x) ||
       std::isnan(in_object.pose.orientation.y) ||
@@ -215,8 +218,7 @@ bool NaiveMotionPredict::isObjectValid(const autoware_msgs::DetectedObject &in_o
       std::isnan(in_object.pose.position.x) ||
       std::isnan(in_object.pose.position.y) ||
       std::isnan(in_object.pose.position.z) ||
-      (in_object.pose.position.x <= 0) ||
-      (in_object.pose.position.y <= 0) ||
+      (distance <=  filter_out_close_object_threshold_)||
       (in_object.dimensions.x <= 0) ||
       (in_object.dimensions.y <= 0) ||
       (in_object.dimensions.z <= 0)
diff --git a/ros/src/util/packages/runtime_manager/scripts/computing.yaml b/ros/src/util/packages/runtime_manager/scripts/computing.yaml
index 34e1def7cfc..32cead674e5 100755
--- a/ros/src/util/packages/runtime_manager/scripts/computing.yaml
+++ b/ros/src/util/packages/runtime_manager/scripts/computing.yaml
@@ -5364,6 +5364,15 @@ params :
       cmd_param :
         dash      : ''
         delim     : ':='
+    - name  : filter_out_close_object_threshold
+      desc  : Filtering out an object whithin this threshold
+      label : filter_out_close_object_threshold
+      min     : 0.0
+      max     : 10.0
+      v       : 1.5
+      cmd_param :
+        dash      : ''
+        delim     : ':='
 
   - name  : costmap_generator_param
     vars  :

From ac29e870e8812ff2ba8fe53058adf046dec2a48f Mon Sep 17 00:00:00 2001
From: Akihito OHSATO <aohsato@gmail.com>
Date: Sat, 16 Mar 2019 09:21:23 +0900
Subject: [PATCH 21/23] Unsupport indigo version

---
 ros/src/actuation/vehicles/packages/ymc/CMakeLists.txt | 10 ++--------
 1 file changed, 2 insertions(+), 8 deletions(-)

diff --git a/ros/src/actuation/vehicles/packages/ymc/CMakeLists.txt b/ros/src/actuation/vehicles/packages/ymc/CMakeLists.txt
index aa722bc17f6..f5f43bdd559 100755
--- a/ros/src/actuation/vehicles/packages/ymc/CMakeLists.txt
+++ b/ros/src/actuation/vehicles/packages/ymc/CMakeLists.txt
@@ -35,12 +35,6 @@ include_directories(
   include
 )
 
-IF (CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 5.1)
-  set(LIB_VERSION 2.0) # _GLIBCXX_USE_CXX11_ABI is 1
-ELSE ()
-  set(LIB_VERSION 1.0) # _GLIBCXX_USE_CXX11_ABI is 0
-ENDIF ()
-
 add_executable(g30esli_interface
   node/g30esli_interface/g30esli_interface.cpp
 )
@@ -51,7 +45,7 @@ add_dependencies(g30esli_interface
 
 target_link_libraries(g30esli_interface
   ${catkin_LIBRARIES}
-  ${CMAKE_CURRENT_SOURCE_DIR}/lib/libymc_can_${LIB_VERSION}${LIB_ARCH}.a
+  ${CMAKE_CURRENT_SOURCE_DIR}/lib/libymc_can${LIB_ARCH}.a
 )
 
 install(TARGETS g30esli_interface
@@ -61,4 +55,4 @@ install(TARGETS g30esli_interface
 
 install(DIRECTORY launch/
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
-        PATTERN ".svn" EXCLUDE)
\ No newline at end of file
+        PATTERN ".svn" EXCLUDE)

From 849f623728d00ed4ce14d26d5fa4975ec8936d3c Mon Sep 17 00:00:00 2001
From: Akihito OHSATO <aohsato@gmail.com>
Date: Sat, 16 Mar 2019 09:23:05 +0900
Subject: [PATCH 22/23] Replace library to -fPIC compiled binary (x86/aarch64)

---
 .../vehicles/packages/ymc/lib/libymc_can.a    | Bin 0 -> 35480 bytes
 .../packages/ymc/lib/libymc_can_1.0.a         | Bin 32552 -> 0 bytes
 .../packages/ymc/lib/libymc_can_2.0.a         | Bin 34232 -> 0 bytes
 ...can_2.0_aarch64.a => libymc_can_aarch64.a} | Bin 40552 -> 40688 bytes
 4 files changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 ros/src/actuation/vehicles/packages/ymc/lib/libymc_can.a
 delete mode 100644 ros/src/actuation/vehicles/packages/ymc/lib/libymc_can_1.0.a
 delete mode 100644 ros/src/actuation/vehicles/packages/ymc/lib/libymc_can_2.0.a
 rename ros/src/actuation/vehicles/packages/ymc/lib/{libymc_can_2.0_aarch64.a => libymc_can_aarch64.a} (62%)

diff --git a/ros/src/actuation/vehicles/packages/ymc/lib/libymc_can.a b/ros/src/actuation/vehicles/packages/ymc/lib/libymc_can.a
new file mode 100644
index 0000000000000000000000000000000000000000..981221934df672f2bc4c98e22423c843fa74cb0c
GIT binary patch
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diff --git a/ros/src/actuation/vehicles/packages/ymc/lib/libymc_can_1.0.a b/ros/src/actuation/vehicles/packages/ymc/lib/libymc_can_1.0.a
deleted file mode 100644
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diff --git a/ros/src/actuation/vehicles/packages/ymc/lib/libymc_can_2.0_aarch64.a b/ros/src/actuation/vehicles/packages/ymc/lib/libymc_can_aarch64.a
similarity index 62%
rename from ros/src/actuation/vehicles/packages/ymc/lib/libymc_can_2.0_aarch64.a
rename to ros/src/actuation/vehicles/packages/ymc/lib/libymc_can_aarch64.a
index 37cb2c2df0bc69976f8f488790a97379b3570472..5bd8e1ab65a1547c17fbc214dcbb07ebcc0cdb8d 100644
GIT binary patch
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From 05899a557cb0c980f6c5b55168da385a4597957f Mon Sep 17 00:00:00 2001
From: Akihito OHSATO <aohsato@gmail.com>
Date: Sat, 16 Mar 2019 09:25:33 +0900
Subject: [PATCH 23/23] Refactor cmake

---
 .../actuation/vehicles/packages/ymc/CMakeLists.txt | 14 ++++----------
 1 file changed, 4 insertions(+), 10 deletions(-)

diff --git a/ros/src/actuation/vehicles/packages/ymc/CMakeLists.txt b/ros/src/actuation/vehicles/packages/ymc/CMakeLists.txt
index f5f43bdd559..efcd22b61df 100755
--- a/ros/src/actuation/vehicles/packages/ymc/CMakeLists.txt
+++ b/ros/src/actuation/vehicles/packages/ymc/CMakeLists.txt
@@ -1,25 +1,20 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(ymc)
 
-set(CMAKE_CXX_FLAGS "-Wall ${CMAKE_CXX_FLAGS}")
-
-find_package(autoware_build_flags REQUIRED)
-
-find_package(autoware_msgs REQUIRED)
-
 find_package(
   catkin REQUIRED COMPONENTS
+  autoware_build_flags
   roscpp
-  geometry_msgs
   rosconsole
+  geometry_msgs
   autoware_msgs
 )
 
 catkin_package(
   CATKIN_DEPENDS
   roscpp
-  geometry_msgs
   rosconsole
+  geometry_msgs
   autoware_msgs
 )
 
@@ -30,9 +25,8 @@ ELSE ()
 ENDIF ()
 
 include_directories(
-  ${autoware_msgs_INCLUDE_DIRS}
-  ${catkin_INCLUDE_DIRS}
   include
+  ${catkin_INCLUDE_DIRS}
 )
 
 add_executable(g30esli_interface