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/> </mxCell> </UserObject> <UserObject label="run_out" tooltip="規定された停止線で一時停止を行います" id="iM43lsEIwqhlJ7BxjptO-52"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" vertex="1" parent="99"> <mxGeometry y="124" width="110" height="25" as="geometry" /> </mxCell> </UserObject> <UserObject label="merge_from_private" tooltip="規定された停止線で一時停止を行います" id="zEs4wxTr3dO1cdEekOQt-55"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" vertex="1" parent="99"> <mxGeometry y="186.46341463414635" width="110" height="25" as="geometry" /> </mxCell> </UserObject> <UserObject label="occlusion_spot" tooltip="地図情報および動物体情報から、死角手前での減速を行います。" id="34"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" vertex="1" parent="huNNO2pCuBcXr_yaQgU9-41"> <mxGeometry x="-543" y="-341" width="110" height="25" as="geometry" 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style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" vertex="1" parent="huNNO2pCuBcXr_yaQgU9-41"> <mxGeometry x="-543" y="-247.99522267206478" width="110" height="25" as="geometry" /> </mxCell> </UserObject> <UserObject label="&lt;div&gt;obstacle_slow_down&lt;/div&gt;" tooltip="規定された停止線で一時停止を行います" id="zEs4wxTr3dO1cdEekOQt-54"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" vertex="1" parent="huNNO2pCuBcXr_yaQgU9-41"> <mxGeometry x="-574" y="156" width="140" height="25" as="geometry" /> </mxCell> </UserObject> <UserObject label="traffic_light_&lt;br&gt;multi_camera_fusion" link="https://github.com/autowarefoundation/autoware_universe/tree/main/perception/autoware_traffic_light_multi_camera_fusion" tooltip="traffic_light_multi_camera_fusion performs traffic light signal fusion which can be summarized as the following two 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style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;" connectable="0" vertex="1" parent="119"> <mxGeometry x="0.6831" y="1" relative="1" as="geometry"> <mxPoint x="49" y="-10" as="offset" /> </mxGeometry> </mxCell> <UserObject label="dynamic_obstacle_avoidance" tooltip="ルート情報や障害物情報をもとに、障害物回避を実行します。" id="nburpKkkAmEc2WaxpB9n-147"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" vertex="1" parent="huNNO2pCuBcXr_yaQgU9-41"> <mxGeometry x="-512" y="-638" width="164" height="30" as="geometry" /> </mxCell> </UserObject> <mxCell id="huNNO2pCuBcXr_yaQgU9-10" value="Control" style="" parent="0" /> <mxCell id="P3Th9qUTFY8M71-R8FQo-42" value="trajectory_follower" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#ffe6cc;strokeColor=#d79b00;verticalAlign=top;arcSize=11;" vertex="1" parent="huNNO2pCuBcXr_yaQgU9-10"> <mxGeometry x="321" y="-800" width="345" height="85" 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tooltip="遠隔から来たコマンド（アクセル/ブレーキ）を目標速度/加速度の信号に変換します" id="huNNO2pCuBcXr_yaQgU9-137"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;" vertex="1" parent="huNNO2pCuBcXr_yaQgU9-10"> <mxGeometry x="880" y="-670" width="120" height="40" as="geometry" /> </mxCell> </UserObject> <mxCell id="huNNO2pCuBcXr_yaQgU9-147" value="/external/selected/external_control_cmd&lt;br&gt;&amp;nbsp;[tier4_external_api_msgs/msg/ControlCommandStamped]" style="edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;" edge="1" parent="huNNO2pCuBcXr_yaQgU9-10" source="huNNO2pCuBcXr_yaQgU9-145" target="huNNO2pCuBcXr_yaQgU9-137"> <mxGeometry relative="1" as="geometry"> <mxPoint x="1001" y="-340" as="targetPoint" /> </mxGeometry> </mxCell> <UserObject label="external_cmd_&lt;br&gt;selector" 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style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-313"> <mxGeometry x="-490" y="-558" width="120" height="30" as="geometry" /> </mxCell> </UserObject> <UserObject label="start_planner/goal_planner" tooltip="ルート情報をもとに路肩への幅寄せ、路肩からの発進を行います。" id="Wu6CmMa7a1BlNrLQahqR-350"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-313"> <mxGeometry x="-511" y="-598" width="162" height="30" as="geometry" /> </mxCell> </UserObject> <UserObject label="static_obstacle_avoidance" tooltip="ルート情報や障害物情報をもとに、障害物回避を実行します。" id="Wu6CmMa7a1BlNrLQahqR-351"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-313"> <mxGeometry x="-512" y="-675" width="164" height="30" as="geometry" /> </mxCell> </UserObject> 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style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-413"> <mxGeometry x="490" y="-771" width="160" height="40" as="geometry" /> </mxCell> </UserObject> <UserObject label="vehicle_cmd_gate" link="https://github.com/autowarefoundation/autoware_universe/tree/main/control/autoware_vehicle_cmd_gate" tooltip="指示モードに応じて、複数のコマンドの中から後段に渡すコマンドを選択します。" id="Wu6CmMa7a1BlNrLQahqR-419"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-413"> <mxGeometry x="100" y="-519" width="680" height="60" as="geometry" /> </mxCell> </UserObject> <mxCell id="Wu6CmMa7a1BlNrLQahqR-420" value="" style="edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="Wu6CmMa7a1BlNrLQahqR-413" target="Wu6CmMa7a1BlNrLQahqR-433"> <mxGeometry relative="1" as="geometry"> <mxPoint x="345" y="-190" as="sourcePoint" /> <mxPoint x="512" y="10" as="targetPoint" /> <Array as="points"> <mxPoint x="346" y="-190" /> <mxPoint x="345" y="-190" /> </Array> </mxGeometry> </mxCell> <mxCell id="Wu6CmMa7a1BlNrLQahqR-421" value="control/command/control_cmd&lt;br&gt;&amp;nbsp;[AckermannControlCommand]" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];comic=0;" vertex="1" connectable="0" parent="Wu6CmMa7a1BlNrLQahqR-420"> <mxGeometry x="0.7105" relative="1" as="geometry"> <mxPoint y="-151" as="offset" /> </mxGeometry> </mxCell> <mxCell id="Wu6CmMa7a1BlNrLQahqR-422" value="/control/shift_decider/gear_cmd&lt;br&gt;[GearCommand]" style="edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;" edge="1" parent="Wu6CmMa7a1BlNrLQahqR-413" source="Wu6CmMa7a1BlNrLQahqR-566"> <mxGeometry relative="1" as="geometry"> <mxPoint x="335" y="-520" as="targetPoint" /> <mxPoint x="440" y="-412" as="sourcePoint" /> </mxGeometry> </mxCell> <UserObject label="external_cmd_&lt;br&gt;converter" link="https://github.com/autowarefoundation/autoware_universe/tree/main/vehicle/autoware_external_cmd_converter" tooltip="遠隔から来たコマンド（アクセル/ブレーキ）を目標速度/加速度の信号に変換します" id="Wu6CmMa7a1BlNrLQahqR-423"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-413"> <mxGeometry x="880" y="-670" width="120" height="40" as="geometry" /> </mxCell> </UserObject> <mxCell id="Wu6CmMa7a1BlNrLQahqR-424" value="/external/selected/external_control_cmd&lt;br&gt;&amp;nbsp;[tier4_external_api_msgs/msg/ControlCommandStamped]" style="edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;" edge="1" parent="Wu6CmMa7a1BlNrLQahqR-413" source="Wu6CmMa7a1BlNrLQahqR-425" target="Wu6CmMa7a1BlNrLQahqR-423"> <mxGeometry relative="1" as="geometry"> <mxPoint x="1001" y="-340" as="targetPoint" /> </mxGeometry> </mxCell> <UserObject label="external_cmd_&lt;br&gt;selector" link="https://github.com/autowarefoundation/autoware_universe/tree/main/control/autoware_external_cmd_selector" id="Wu6CmMa7a1BlNrLQahqR-425"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-413"> <mxGeometry x="880" y="-780" width="120" height="40" as="geometry" /> </mxCell> </UserObject> <mxCell id="Wu6CmMa7a1BlNrLQahqR-426" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.862;entryY=0.011;entryDx=0;entryDy=0;entryPerimeter=0;labelBackgroundColor=default;fontColor=default;" edge="1" parent="Wu6CmMa7a1BlNrLQahqR-413" source="Wu6CmMa7a1BlNrLQahqR-425" target="Wu6CmMa7a1BlNrLQahqR-419"> <mxGeometry relative="1" as="geometry" /> </mxCell> <mxCell id="Wu6CmMa7a1BlNrLQahqR-427" value="&lt;div style=&quot;text-align: left&quot;&gt;&lt;font style=&quot;font-size: 11px&quot;&gt;/api/external/set/command/remote/control&amp;nbsp;&lt;br&gt;&lt;/font&gt;&lt;/div&gt;&lt;div style=&quot;text-align: left&quot;&gt;&lt;font style=&quot;font-size: 11px&quot;&gt;&amp;nbsp; &amp;nbsp;[tier4_external_api_msgs/msg/ControlCommandStamped]&lt;/font&gt;&lt;/div&gt;&lt;div style=&quot;text-align: left&quot;&gt;&lt;font style=&quot;font-size: 11px&quot;&gt;/api/external/set/command/remote/shift&lt;/font&gt;&lt;/div&gt;&lt;div style=&quot;text-align: left&quot;&gt;&lt;font style=&quot;font-size: 11px&quot;&gt;&amp;nbsp; &amp;nbsp;[tier4_external_api_msgs/msg/GearShiftStamped]&lt;/font&gt;&lt;/div&gt;&lt;div style=&quot;text-align: left&quot;&gt;&lt;font style=&quot;font-size: 11px&quot;&gt;/api/external/set/command/remote/turn_signal&lt;/font&gt;&lt;/div&gt;&lt;div style=&quot;text-align: left&quot;&gt;&lt;font style=&quot;font-size: 11px&quot;&gt;&amp;nbsp; &amp;nbsp;[tier4_external_api_msgs/msg/TurnSignalStamped]&lt;/font&gt;&lt;/div&gt;" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];fontColor=default;labelBackgroundColor=#FFFFFF;" vertex="1" connectable="0" parent="Wu6CmMa7a1BlNrLQahqR-426"> <mxGeometry x="0.0689" y="3" relative="1" as="geometry"> <mxPoint x="1" y="111" as="offset" /> </mxGeometry> </mxCell> <mxCell id="Wu6CmMa7a1BlNrLQahqR-428" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;labelBackgroundColor=default;fontColor=default;entryX=0.946;entryY=-0.002;entryDx=0;entryDy=0;entryPerimeter=0;" edge="1" parent="Wu6CmMa7a1BlNrLQahqR-413" source="Wu6CmMa7a1BlNrLQahqR-423" target="Wu6CmMa7a1BlNrLQahqR-419"> <mxGeometry relative="1" as="geometry"> <mxPoint x="840" y="-330" as="targetPoint" /> <Array as="points"> <mxPoint x="940" y="-540" /> <mxPoint x="743" y="-540" /> </Array> </mxGeometry> </mxCell> <mxCell id="Wu6CmMa7a1BlNrLQahqR-429" value="/current_gate_mode&amp;nbsp;[GateMode]&lt;div&gt;/gear_cmd [GearCommand]&lt;/div&gt;&lt;div&gt;/turn_indicators_cmd&amp;nbsp; [TurnIndicatorCommand]&lt;/div&gt;&lt;div&gt;&lt;div&gt;/hazard_lights_cmd&amp;nbsp; [HazardLightsCommand]&lt;/div&gt;&lt;/div&gt;&lt;div&gt;/vehicle_emergency_cmd [VehicleEmergencyStamped]&lt;/div&gt;" style="rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;align=left;labelBackgroundColor=default;exitX=0.75;exitY=1;exitDx=0;exitDy=0;entryX=0.75;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="Wu6CmMa7a1BlNrLQahqR-413" source="Wu6CmMa7a1BlNrLQahqR-419" target="Wu6CmMa7a1BlNrLQahqR-438"> <mxGeometry x="-0.3878" y="-55" relative="1" as="geometry"> <mxPoint as="offset" /> <mxPoint x="620" y="80" as="targetPoint" /> <mxPoint x="577.8331640019246" y="-265" as="sourcePoint" /> </mxGeometry> </mxCell> <mxCell id="Wu6CmMa7a1BlNrLQahqR-430" value="Topics" style="" parent="0" /> <object label="VehicleInterface" id="Wu6CmMa7a1BlNrLQahqR-431"> <mxCell style="" parent="0" /> </object> <object label="g30_interface" tooltip="ヤマハのGCとのインターフェース" id="Wu6CmMa7a1BlNrLQahqR-432"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#b0e3e6;strokeColor=#0e8088;sketch=0;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-431"> <mxGeometry x="416" y="97" width="120" height="40" as="geometry" /> </mxCell> </object> <UserObject label="raw_vehicle_cmd_&lt;br&gt;converter" link="https://github.com/autowarefoundation/autoware_universe/tree/main/vehicle/autoware_raw_vehicle_cmd_converter" tooltip="速度・加速度の目標値を、車両特有の制御信号（アクセル/ブレーキ等）に変換します" id="Wu6CmMa7a1BlNrLQahqR-433"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#b0e3e6;strokeColor=#0e8088;sketch=0;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-431"> <mxGeometry x="285" y="-160" width="120" height="40" as="geometry" /> </mxCell> </UserObject> <mxCell id="Wu6CmMa7a1BlNrLQahqR-434" value="/vehicle/command/actuation_cmd" style="edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;" edge="1" parent="Wu6CmMa7a1BlNrLQahqR-431" source="Wu6CmMa7a1BlNrLQahqR-433"> <mxGeometry x="-0.6153" y="20" relative="1" as="geometry"> <mxPoint x="345" y="80" as="targetPoint" /> <mxPoint as="offset" /> <Array as="points"> <mxPoint x="345" y="-20" /> <mxPoint x="345" y="-20" /> </Array> </mxGeometry> </mxCell> <UserObject label="pacmod_interface" link="https://github.com/tier4/pacmod_interface" tooltip="pacmodとのinterfaced。LexusとかJapanTaxiとか。" id="Wu6CmMa7a1BlNrLQahqR-435"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#b0e3e6;strokeColor=#0e8088;sketch=0;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-431"> <mxGeometry x="260" y="97" width="120" height="40" as="geometry" /> </mxCell> </UserObject> <UserObject label="VehicleInterface" link="data:action/json,{&quot;actions&quot;:[{&quot;toggle&quot;:{&quot;cells&quot;:[&quot;Wu6CmMa7a1BlNrLQahqR-431&quot;]}}]}" id="Wu6CmMa7a1BlNrLQahqR-436"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#b0e3e6;strokeColor=#0e8088;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-431"> <mxGeometry x="1250" y="956" width="120" height="60" as="geometry" /> </mxCell> </UserObject> <mxCell id="Wu6CmMa7a1BlNrLQahqR-437" value="/vehicle/status/velocity_status&lt;br&gt;/vehicle/status/steering_status&lt;br&gt;/vehicle/status/turn_indicators_status&lt;br&gt;/vehicle/status/gear_status&lt;br&gt;/vehicle/status/control_mode&lt;br&gt;/vehicle/status/&lt;span style=&quot;text-align: center&quot;&gt;actuation_status&lt;/span&gt;" style="endArrow=classic;html=1;exitX=0.121;exitY=0.011;exitDx=0;exitDy=0;exitPerimeter=0;comic=0;align=left;" edge="1" parent="Wu6CmMa7a1BlNrLQahqR-431"> <mxGeometry x="-0.0831" y="65" width="50" height="50" relative="1" as="geometry"> <mxPoint x="175.01999999999862" y="80.76999999999998" as="sourcePoint" /> <mxPoint x="174" y="-60" as="targetPoint" /> <mxPoint as="offset" /> </mxGeometry> </mxCell> <object label="&amp;nbsp; &amp;nbsp; vehicle_interface" tooltip="Autowareと車両のinterfaceです。データの変換が主なタスクです。" id="Wu6CmMa7a1BlNrLQahqR-438"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;fillColor=#b0e3e6;strokeColor=#0e8088;align=left;comic=0;sketch=0;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-431"> <mxGeometry x="110" y="80" width="670" height="70" as="geometry" /> </mxCell> </object> <UserObject label="accel_map_calibrator" link="https://github.com/autowarefoundation/autoware_universe/tree/main/vehicle/autoware_accel_brake_map_calibrator" id="Wu6CmMa7a1BlNrLQahqR-439"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;fillColor=#b0e3e6;strokeColor=#0e8088;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-431"> <mxGeometry x="107" y="-160" width="140" height="40" as="geometry" /> </mxCell> </UserObject> <object label="Vehicle" id="Wu6CmMa7a1BlNrLQahqR-440"> <mxCell style="" parent="0" /> </object> <mxCell id="Wu6CmMa7a1BlNrLQahqR-441" value="/pacmod/**" style="rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;fillColor=#f5f5f5;strokeColor=#666666;exitX=0.5;exitY=1;exitDx=0;exitDy=0;startArrow=classic;startFill=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="Wu6CmMa7a1BlNrLQahqR-440" source="Wu6CmMa7a1BlNrLQahqR-435" target="Wu6CmMa7a1BlNrLQahqR-445"> <mxGeometry x="0.1429" relative="1" as="geometry"> <mxPoint x="274" y="160" as="sourcePoint" /> <mxPoint as="offset" /> <mxPoint x="274" y="220" as="targetPoint" /> </mxGeometry> </mxCell> <UserObject label="Vehicle" link="data:action/json,{&quot;actions&quot;:[{&quot;toggle&quot;:{&quot;cells&quot;:[&quot;Wu6CmMa7a1BlNrLQahqR-440&quot;]}}]}" id="Wu6CmMa7a1BlNrLQahqR-442"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#f5f5f5;strokeColor=#666666;fontColor=#333333;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-440"> <mxGeometry x="1393" y="956" width="120" height="60" as="geometry" /> </mxCell> </UserObject> <mxCell id="Wu6CmMa7a1BlNrLQahqR-443" value="&amp;lt;CAN&amp;gt;" style="edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;fillColor=#f5f5f5;strokeColor=#666666;" edge="1" parent="Wu6CmMa7a1BlNrLQahqR-440" source="Wu6CmMa7a1BlNrLQahqR-445" target="Wu6CmMa7a1BlNrLQahqR-444"> <mxGeometry relative="1" as="geometry" /> </mxCell> <UserObject label="JapanTaxi" tooltip="ASといろいろあったよ" id="Wu6CmMa7a1BlNrLQahqR-444"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#f5f5f5;strokeColor=#666666;fontColor=#333333;sketch=0;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-440"> <mxGeometry x="259" y="740" width="120" height="40" as="geometry" /> </mxCell> </UserObject> <UserObject label="pacmod3" link="http://wiki.ros.org/pacmod3" id="Wu6CmMa7a1BlNrLQahqR-445"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#f5f5f5;strokeColor=#666666;fontColor=#333333;sketch=0;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-440"> <mxGeometry x="260" y="570" width="120" height="40" as="geometry" /> </mxCell> </UserObject> <UserObject label="YMC GolfCart" tooltip="ゴルフカート！！" id="Wu6CmMa7a1BlNrLQahqR-446"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#f5f5f5;strokeColor=#666666;fontColor=#333333;sketch=0;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-440"> <mxGeometry x="415" y="735" width="120" height="40" as="geometry" /> </mxCell> </UserObject> <mxCell id="Wu6CmMa7a1BlNrLQahqR-447" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" edge="1" parent="Wu6CmMa7a1BlNrLQahqR-440" target="Wu6CmMa7a1BlNrLQahqR-294"> <mxGeometry relative="1" as="geometry"> <mxPoint x="-1005" y="-122" as="sourcePoint" /> </mxGeometry> </mxCell> <mxCell id="Wu6CmMa7a1BlNrLQahqR-448" value="&lt;span style=&quot;background-color: 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style=&quot;&quot;&gt;Camera sensing pipeline&lt;/b&gt;&lt;/div&gt;" style="rounded=1;whiteSpace=wrap;html=1;fillColor=none;strokeColor=#000000;verticalAlign=top;align=center;labelBackgroundColor=none;arcSize=3;movable=1;resizable=1;rotatable=1;deletable=1;editable=1;locked=0;connectable=1;dashed=1;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-449"> <mxGeometry x="-2720" y="-1040" width="190" height="205" as="geometry" /> </mxCell> <mxCell id="Wu6CmMa7a1BlNrLQahqR-452" value="top/velodyne_packets" style="edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;" edge="1" parent="Wu6CmMa7a1BlNrLQahqR-449" source="Wu6CmMa7a1BlNrLQahqR-453" target="Wu6CmMa7a1BlNrLQahqR-457"> <mxGeometry relative="1" as="geometry" /> </mxCell> <UserObject label="lidar_driver" tooltip="velodyneのdriverです。VLP16, VLP32, VLS128, Livoxなどなど、たくさん種類があります。" id="Wu6CmMa7a1BlNrLQahqR-453"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;strokeColor=#9673a6;fillColor=#e1d5e7;sketch=0;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-449"> <mxGeometry x="-2327" y="-730" width="120" height="50" as="geometry" /> </mxCell> </UserObject> <mxCell id="Wu6CmMa7a1BlNrLQahqR-454" value="top/rectified/pointcloud" style="edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;" edge="1" parent="Wu6CmMa7a1BlNrLQahqR-449" source="Wu6CmMa7a1BlNrLQahqR-455" target="Wu6CmMa7a1BlNrLQahqR-462"> <mxGeometry relative="1" as="geometry" /> </mxCell> <UserObject label="fix_distortion" tooltip="自車の回転によって生じたLiDAR点群の歪みを補正する。（リンクこれで合ってるっけ？）" link="https://github.com/autowarefoundation/autoware_universe/blob/main/sensing/pointcloud_preprocessor/docs/distortion-corrector.md" id="Wu6CmMa7a1BlNrLQahqR-455"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-449"> <mxGeometry x="-2327" y="-410" width="120" height="30" as="geometry" /> </mxCell> </UserObject> <mxCell id="Wu6CmMa7a1BlNrLQahqR-456" value="top/pointcloud_raw" style="edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;" edge="1" parent="Wu6CmMa7a1BlNrLQahqR-449" source="Wu6CmMa7a1BlNrLQahqR-457" target="Wu6CmMa7a1BlNrLQahqR-459"> <mxGeometry relative="1" as="geometry"> <mxPoint x="-2267" y="-560" as="targetPoint" /> </mxGeometry> </mxCell> <UserObject label="packets_to_&lt;br&gt;pointcloud" tooltip="velodyneのpacketをpointcloud型に変更する" id="Wu6CmMa7a1BlNrLQahqR-457"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-449"> <mxGeometry x="-2327" y="-620" width="120" height="30" as="geometry" /> </mxCell> </UserObject> <mxCell id="Wu6CmMa7a1BlNrLQahqR-458" value="top/self_cropped/pointcloud" style="edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;" edge="1" parent="Wu6CmMa7a1BlNrLQahqR-449" source="Wu6CmMa7a1BlNrLQahqR-459" target="Wu6CmMa7a1BlNrLQahqR-461"> <mxGeometry relative="1" as="geometry" /> </mxCell> <UserObject label="crop_box_&lt;br&gt;filter_self" tooltip="自車の領域内にある点群を除去する。" link="https://github.com/autowarefoundation/autoware_universe/blob/main/sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md" id="Wu6CmMa7a1BlNrLQahqR-459"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-449"> <mxGeometry x="-2327" y="-550" width="120" height="30" as="geometry" /> </mxCell> </UserObject> <mxCell id="Wu6CmMa7a1BlNrLQahqR-460" value="top/mirror_cropped/pointcloud" style="edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;" edge="1" parent="Wu6CmMa7a1BlNrLQahqR-449" source="Wu6CmMa7a1BlNrLQahqR-461" target="Wu6CmMa7a1BlNrLQahqR-455"> <mxGeometry relative="1" as="geometry" /> </mxCell> <UserObject label="crop_box_&lt;br&gt;filter_mirror" tooltip="自車のサイドミラーの部分に当たった点群を除去する" link="https://github.com/autowarefoundation/autoware_universe/blob/main/sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md" id="Wu6CmMa7a1BlNrLQahqR-461"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-449"> <mxGeometry x="-2327" y="-480" width="120" height="30" as="geometry" /> </mxCell> </UserObject> <UserObject label="ring_outlier_filter" tooltip="点群のノイズ処理を行う&#xa;（同一リングから得られたLiDARの点をクラスタリングし、点群数の少ないクラスタに属する点群はノイズとして除去される）" link="https://github.com/autowarefoundation/autoware_universe/blob/main/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md" id="Wu6CmMa7a1BlNrLQahqR-462"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-449"> <mxGeometry x="-2327" y="-340" width="120" height="30" as="geometry" /> </mxCell> </UserObject> <mxCell id="Wu6CmMa7a1BlNrLQahqR-463" value="lidar/*/velodyne_packets" style="edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;" edge="1" parent="Wu6CmMa7a1BlNrLQahqR-449" source="Wu6CmMa7a1BlNrLQahqR-464" target="Wu6CmMa7a1BlNrLQahqR-468"> <mxGeometry relative="1" as="geometry" /> </mxCell> <mxCell id="Wu6CmMa7a1BlNrLQahqR-464" value="lidar_drivers&lt;br&gt;(left,right,front_right, front_left,rear)" style="rounded=1;whiteSpace=wrap;html=1;comic=0;strokeColor=#9673a6;fillColor=#e1d5e7;sketch=0;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-449"> <mxGeometry x="-2497" y="-730" width="120" height="50" as="geometry" /> </mxCell> <mxCell id="Wu6CmMa7a1BlNrLQahqR-465" value="&lt;span style=&quot;color: rgb(0 , 0 , 0) ; font-family: &amp;#34;helvetica&amp;#34; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; 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style="edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;" edge="1" parent="Wu6CmMa7a1BlNrLQahqR-449" source="Wu6CmMa7a1BlNrLQahqR-470" target="Wu6CmMa7a1BlNrLQahqR-472"> <mxGeometry relative="1" as="geometry" /> </mxCell> <UserObject label="crop_box_&lt;br&gt;filter_self" tooltip="自車の領域内にある点群を除去する。" link="https://github.com/autowarefoundation/autoware_universe/blob/main/sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md" id="Wu6CmMa7a1BlNrLQahqR-470"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-449"> <mxGeometry x="-2497" y="-550" width="120" height="30" as="geometry" /> </mxCell> </UserObject> <mxCell id="Wu6CmMa7a1BlNrLQahqR-471" value="&lt;span style=&quot;color: rgb(0 , 0 , 0) ; 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id="Wu6CmMa7a1BlNrLQahqR-472"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-449"> <mxGeometry x="-2497" y="-480" width="120" height="30" as="geometry" /> </mxCell> </UserObject> <UserObject label="ring_outlier_filter" tooltip="点群のノイズ処理を行う&#xa;（同一リングから得られたLiDARの点をクラスタリングし、点群数の少ないクラスタに属する点群はノイズとして除去される）" link="https://github.com/autowarefoundation/autoware_universe/blob/main/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md" id="Wu6CmMa7a1BlNrLQahqR-473"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;" vertex="1" parent="Wu6CmMa7a1BlNrLQahqR-449"> <mxGeometry x="-2497" y="-340" width="120" height="30" as="geometry" /> </mxCell> </UserObject> <mxCell id="Wu6CmMa7a1BlNrLQahqR-474" value="/sensing/lidar&lt;br&gt;/concatenated/pointcloud" 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tooltip="遠隔から来たコマンド（アクセル/ブレーキ）を目標速度/加速度の信号に変換します" id="huNNO2pCuBcXr_yaQgU9-137"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;" parent="huNNO2pCuBcXr_yaQgU9-10" vertex="1"> <mxGeometry x="880" y="-670" width="120" height="40" as="geometry" /> </mxCell> </UserObject> <mxCell id="huNNO2pCuBcXr_yaQgU9-147" value="/external/selected/external_control_cmd&lt;br&gt;&amp;nbsp;[tier4_external_api_msgs/msg/ControlCommandStamped]" style="edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;" parent="huNNO2pCuBcXr_yaQgU9-10" source="huNNO2pCuBcXr_yaQgU9-145" target="huNNO2pCuBcXr_yaQgU9-137" edge="1"> <mxGeometry relative="1" as="geometry"> <mxPoint x="1001" y="-340" as="targetPoint" /> </mxGeometry> </mxCell> <UserObject label="external_cmd_&lt;br&gt;selector" 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style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];fontColor=default;labelBackgroundColor=#FFFFFF;" parent="pMXYhzgBW71XrXo-O7h1-57" vertex="1" connectable="0"> <mxGeometry x="0.0689" y="3" relative="1" as="geometry"> <mxPoint x="1" y="111" as="offset" /> </mxGeometry> </mxCell> <mxCell id="pMXYhzgBW71XrXo-O7h1-58" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;labelBackgroundColor=default;fontColor=default;entryX=0.946;entryY=-0.002;entryDx=0;entryDy=0;entryPerimeter=0;" parent="huNNO2pCuBcXr_yaQgU9-10" source="huNNO2pCuBcXr_yaQgU9-137" target="huNNO2pCuBcXr_yaQgU9-66" edge="1"> <mxGeometry relative="1" as="geometry"> <mxPoint x="840" y="-330" as="targetPoint" /> <Array as="points"> <mxPoint x="940" y="-540" /> <mxPoint x="743" y="-540" /> </Array> </mxGeometry> </mxCell> <mxCell id="huNNO2pCuBcXr_yaQgU9-72" value="/current_gate_mode&amp;nbsp;[GateMode]&lt;div&gt;/gear_cmd 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link="https://github.com/autowarefoundation/autoware_universe/tree/main/planning/autoware_velocity_smoother" id="Wu6CmMa7a1BlNrLQahqR-328"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" parent="Wu6CmMa7a1BlNrLQahqR-313" vertex="1"> <mxGeometry x="-447.5" y="380" width="120" height="40" as="geometry" /> </mxCell> </UserObject> <mxCell id="Wu6CmMa7a1BlNrLQahqR-329" value="&amp;lt;Lane Driving&amp;gt;" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;dashed=1;comic=0;" parent="Wu6CmMa7a1BlNrLQahqR-313" vertex="1"> <mxGeometry x="-420" y="-810.0030303030303" width="90" height="20.303030303030305" as="geometry" /> </mxCell> <mxCell id="Wu6CmMa7a1BlNrLQahqR-330" style="rounded=0;jumpStyle=none;orthogonalLoop=1;jettySize=auto;html=1;" parent="Wu6CmMa7a1BlNrLQahqR-313" source="Wu6CmMa7a1BlNrLQahqR-337" target="Wu6CmMa7a1BlNrLQahqR-348" edge="1"> <mxGeometry 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parent="Wu6CmMa7a1BlNrLQahqR-342" vertex="1" connectable="0"> <mxGeometry x="0.206" y="-1" relative="1" as="geometry"> <mxPoint x="1" y="-23" as="offset" /> </mxGeometry> </mxCell> <mxCell id="Wu6CmMa7a1BlNrLQahqR-344" value="&amp;lt;Parking&amp;gt;" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;dashed=1;comic=0;" parent="Wu6CmMa7a1BlNrLQahqR-313" vertex="1"> <mxGeometry x="-180" y="-790" width="80" height="20" as="geometry" /> </mxCell> <mxCell id="Wu6CmMa7a1BlNrLQahqR-345" value="&lt;span style=&quot;color: rgb(0, 0, 0); font-family: helvetica; font-size: 11px; font-style: normal; font-weight: 400; letter-spacing: normal; text-align: center; text-indent: 0px; text-transform: none; word-spacing: 0px; background-color: rgb(255, 255, 255); display: inline; float: none;&quot;&gt;parking/trajectory [Trajectory]&lt;/span&gt;" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.75;entryY=0;entryDx=0;entryDy=0;" parent="Wu6CmMa7a1BlNrLQahqR-313" source="Wu6CmMa7a1BlNrLQahqR-339" target="Wu6CmMa7a1BlNrLQahqR-326" edge="1"> <mxGeometry x="0.6614" relative="1" as="geometry"> <mxPoint x="-230" y="-310" as="targetPoint" /> <Array as="points"> <mxPoint x="-230" y="260" /> <mxPoint x="-357" y="260" /> </Array> <mxPoint as="offset" /> </mxGeometry> </mxCell> <UserObject label="surround_obstacle_checker" tooltip="自車が停止しているときに、周囲の障害物を確認し、近くに障害物がいる場合は車両を発進させない。" link="https://github.com/autowarefoundation/autoware_universe/tree/main/planning/autoware_surround_obstacle_checker" id="Wu6CmMa7a1BlNrLQahqR-346"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" parent="Wu6CmMa7a1BlNrLQahqR-313" vertex="1"> <mxGeometry x="-882" y="110" width="160" height="40" as="geometry" /> </mxCell> </UserObject> <mxCell 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style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" parent="Wu6CmMa7a1BlNrLQahqR-313" vertex="1"> <mxGeometry x="-490" y="-558" width="120" height="30" as="geometry" /> </mxCell> </UserObject> <UserObject label="start_planner/goal_planner" tooltip="ルート情報をもとに路肩への幅寄せ、路肩からの発進を行います。" id="Wu6CmMa7a1BlNrLQahqR-350"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" parent="Wu6CmMa7a1BlNrLQahqR-313" vertex="1"> <mxGeometry x="-511" y="-598" width="162" height="30" as="geometry" /> </mxCell> </UserObject> <UserObject label="static_obstacle_avoidance" tooltip="ルート情報や障害物情報をもとに、障害物回避を実行します。" id="Wu6CmMa7a1BlNrLQahqR-351"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" parent="Wu6CmMa7a1BlNrLQahqR-313" vertex="1"> <mxGeometry x="-512" y="-675" width="164" height="30" as="geometry" /> </mxCell> </UserObject> 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style="edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;" parent="Wu6CmMa7a1BlNrLQahqR-449" source="Wu6CmMa7a1BlNrLQahqR-470" target="Wu6CmMa7a1BlNrLQahqR-472" edge="1"> <mxGeometry relative="1" as="geometry" /> </mxCell> <UserObject label="crop_box_&lt;br&gt;filter_self" tooltip="自車の領域内にある点群を除去する。" link="https://github.com/autowarefoundation/autoware_universe/blob/main/sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md" id="Wu6CmMa7a1BlNrLQahqR-470"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;" parent="Wu6CmMa7a1BlNrLQahqR-449" vertex="1"> <mxGeometry x="-2497" y="-550" width="120" height="30" as="geometry" /> </mxCell> </UserObject> <mxCell id="Wu6CmMa7a1BlNrLQahqR-471" value="&lt;span style=&quot;color: rgb(0 , 0 , 0) ; 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