Started work on intra-node deps

requirements.txt

@@ -1,3 +1,6 @@
 numpy
 pandas
 matplotlib
+pyvis
+graphviz
+ruamel.yaml

settings/intra-node-data-deps.yaml

@@ -0,0 +1,12 @@
+/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner:
+  281471221778768:
+    - 281471220381760
+    - 281471220598896
+    - 281471220449136
+    - 281471220195376
+    - 281471220214336
+    - 281471220223648
+  281471220283472:
+    - 281471220381760
+    - 281471220598896
+    - 281471220449136

settings/node-cbs.yaml

@@ -0,0 +1,552 @@
+/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner:
+- 281471292354688:
+    symbol: void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_perception_msgs::msg::TrafficSignalArray*)
+    ins: 1
+    outs: 0
+- 281471292182224:
+    symbol: void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg::PathWithLaneId*)
+    ins: 1
+    outs: 2
+- 281471292723984:
+    symbol: void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_perception_msgs::msg::TrafficSignalArray*)
+    ins: 1
+    outs: 0
+- 281471292197968:
+    symbol: void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::Odometry*)
+    ins: 1
+    outs: 1
+- 281471292814832:
+    symbol: void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::OccupancyGrid*)
+    ins: 1
+    outs: 1
+- 281471292758736:
+    symbol: void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(tier4_v2x_msgs::msg::VirtualTrafficLightStateArray*)
+    ins: 1
+    outs: 0
+- 281471292694880:
+    symbol: void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(tier4_planning_msgs::msg::VelocityLimit*)
+    ins: 1
+    outs: 0
+- 281471292187680:
+    symbol: void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_perception_msgs::msg::PredictedObjects*)
+    ins: 1
+    outs: 0
+- 281471292439776:
+    symbol: void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(tier4_api_msgs::msg::CrosswalkStatus*)
+    ins: 1
+    outs: 0
+- 281471292201536:
+    symbol: void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(sensor_msgs::msg::PointCloud2*)
+    ins: 1
+    outs: 2
+- 281471292458032:
+    symbol: void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(tier4_api_msgs::msg::IntersectionStatus*)
+    ins: 1
+    outs: 0
+- 281471292318288:
+    symbol: void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_mapping_msgs::msg::HADMapBin*)
+    ins: 0
+    outs: 0
+/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner:
+- 281471220381760:
+    symbol: void (behavior_path_planner::BehaviorPathPlannerNode::?)(tier4_planning_msgs::msg::PathChangeModule*)
+    ins: 1
+    outs: 0
+- 281471220598896:
+    symbol: void (behavior_path_planner::SideShiftModule::?)(tier4_planning_msgs::msg::LateralOffset*)
+    ins: 1
+    outs: 0
+- 281471220449136:
+    symbol: void (behavior_path_planner::BehaviorPathPlannerNode::?)(autoware_auto_planning_msgs::msg::HADMapRoute*)
+    ins: 1
+    outs: 0
+- 281471220195376:
+    symbol: void (behavior_path_planner::BehaviorPathPlannerNode::?)(nav_msgs::msg::Odometry*)
+    ins: 1
+    outs: 0
+- 281471220214336:
+    symbol: void (behavior_path_planner::BehaviorPathPlannerNode::?)(autoware_auto_perception_msgs::msg::PredictedObjects*)
+    ins: 1
+    outs: 0
+- 281471220283472:
+    symbol: void (behavior_path_planner::BehaviorPathPlannerNode::?)(tier4_planning_msgs::msg::Approval*)
+    ins: 0
+    outs: 4
+- 281471221778768:
+    symbol: void (behavior_path_planner::BehaviorPathPlannerNode::?)()
+    ins: 0
+    outs: 2
+- 281471220400576:
+    symbol: void (behavior_path_planner::BehaviorPathPlannerNode::?)(autoware_auto_mapping_msgs::msg::HADMapBin*)
+    ins: 0
+    outs: 0
+- 281471220223648:
+    symbol: behavior_path_planner::BehaviorPathPlannerNode::BehaviorPathPlannerNode(rclcpp::NodeOptionsconst&)::\{lambda(tier4_planning_msgs::msg::Scenario*)#1\}
+    ins: 1
+    outs: 0
+/control/external_cmd_selector:
+- 187651236011408:
+    symbol: void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::TurnSignalStamped*)
+    ins: 1
+    outs: 0
+- 187651236017424:
+    symbol: void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::Heartbeat*)
+    ins: 1
+    outs: 0
+- 187651236095968:
+    symbol: void (ExternalCmdSelector::?)()
+    ins: 0
+    outs: 1
+- 187651235894224:
+    symbol: void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::ControlCommandStamped*)
+    ins: 1
+    outs: 0
+- 187651236076832:
+    symbol: void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::TurnSignalStamped*)
+    ins: 1
+    outs: 0
+- 187651236049552:
+    symbol: void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::ControlCommandStamped*)
+    ins: 1
+    outs: 0
+- 187651236075584:
+    symbol: void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::GearShiftStamped*)
+    ins: 1
+    outs: 0
+- 187651236009840:
+    symbol: void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::GearShiftStamped*)
+    ins: 1
+    outs: 0
+- 187651236084304:
+    symbol: void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::Heartbeat*)
+    ins: 1
+    outs: 0
+/planning/scenario_planning/scenario_selector:
+- 187650725588976:
+    symbol: void (ScenarioSelectorNode::?)(autoware_auto_planning_msgs::msg::HADMapRoute*)
+    ins: 1
+    outs: 0
+- 187650725574912:
+    symbol: void (ScenarioSelectorNode::?)(autoware_auto_mapping_msgs::msg::HADMapBin*)
+    ins: 0
+    outs: 0
+- 187650725684000:
+    symbol: void (ScenarioSelectorNode::?)(nav_msgs::msg::Odometry*)
+    ins: 1
+    outs: 0
+- 187650725848512:
+    symbol: void (ScenarioSelectorNode::?)()
+    ins: 0
+    outs: 3
+- 187650725538176:
+    symbol: void (ScenarioSelectorNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)
+    ins: 0
+    outs: 1
+- 187650725528480:
+    symbol: void (ScenarioSelectorNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)
+    ins: 2
+    outs: 1
+/planning/scenario_planning/external_velocity_limit_selector:
+- 187651290507760:
+    symbol: void (ExternalVelocityLimitSelectorNode::?)(tier4_planning_msgs::msg::VelocityLimit*)
+    ins: 1
+    outs: 0
+- 187651290535728:
+    symbol: void (ExternalVelocityLimitSelectorNode::?)(tier4_planning_msgs::msg::VelocityLimit*)
+    ins: 0
+    outs: 0
+- 187651290617280:
+    symbol: void (ExternalVelocityLimitSelectorNode::?)(tier4_planning_msgs::msg::VelocityLimitClearCommand*)
+    ins: 0
+    outs: 0
+/planning/scenario_planning/parking/freespace_planner:
+- 187651235281808:
+    symbol: void (freespace_planner::FreespacePlannerNode::?)(tier4_planning_msgs::msg::Scenario*)
+    ins: 1
+    outs: 0
+- 187651235284384:
+    symbol: void (freespace_planner::FreespacePlannerNode::?)(nav_msgs::msg::Odometry*)
+    ins: 1
+    outs: 0
+- 187651235210912:
+    symbol: void (freespace_planner::FreespacePlannerNode::?)(nav_msgs::msg::OccupancyGrid*)
+    ins: 1
+    outs: 0
+- 187651235257712:
+    symbol: void (freespace_planner::FreespacePlannerNode::?)(autoware_auto_planning_msgs::msg::HADMapRoute*)
+    ins: 1
+    outs: 0
+- 187651234961136:
+    symbol: void (freespace_planner::FreespacePlannerNode::?)()
+    ins: 0
+    outs: 0
+/planning/scenario_planning/parking/costmap_generator:
+- 187651234414432:
+    symbol: void (CostmapGenerator::?)(autoware_auto_perception_msgs::msg::PredictedObjects*)
+    ins: 1
+    outs: 0
+- 187651234516960:
+    symbol: void (CostmapGenerator::?)(tier4_planning_msgs::msg::Scenario*)
+    ins: 1
+    outs: 0
+- 187651234424704:
+    symbol: void (CostmapGenerator::?)(sensor_msgs::msg::PointCloud2*)
+    ins: 1
+    outs: 0
+- 187651234515584:
+    symbol: void (CostmapGenerator::?)(autoware_auto_mapping_msgs::msg::HADMapBin*)
+    ins: 0
+    outs: 0
+- 187651234424656:
+    symbol: void (CostmapGenerator::?)()
+    ins: 0
+    outs: 2
+/control/trajectory_follower/longitudinal_controller_node_exe:
+- 187651235237984:
+    symbol: void (autoware::motion::control::trajectory_follower_nodes::LongitudinalController::?)(nav_msgs::msg::Odometry*)
+    ins: 1
+    outs: 0
+- 187651235237936:
+    symbol: void (autoware::motion::control::trajectory_follower_nodes::LongitudinalController::?)()
+    ins: 0
+    outs: 0
+- 187651235242032:
+    symbol: void (autoware::motion::control::trajectory_follower_nodes::LongitudinalController::?)(autoware_auto_planning_msgs::msg::Trajectory*)
+    ins: 1
+    outs: 0
+/planning/planning_diagnostics/planning_error_monitor:
+- 187650857875248:
+    symbol: void (planning_diagnostics::PlanningErrorMonitorNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)
+    ins: 1
+    outs: 0
+- 187650857760512:
+    symbol: void (planning_diagnostics::PlanningErrorMonitorNode::?)()
+    ins: 0
+    outs: 1
+/control/vehicle_cmd_gate:
+- 187651239920720:
+    symbol: void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::Engage*)
+    ins: 0
+    outs: 0
+- 187651240076560:
+    symbol: void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::HazardLightsCommand*)
+    ins: 1
+    outs: 0
+- 187651239621024:
+    symbol: void (VehicleCmdGate::?)(autoware_auto_system_msgs::msg::EmergencyState*)
+    ins: 1
+    outs: 0
+- 187651239995456:
+    symbol: void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand*)
+    ins: 0
+    outs: 0
+- 187651239979264:
+    symbol: void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::GearCommand*)
+    ins: 1
+    outs: 0
+- 187651240214128:
+    symbol: void (VehicleCmdGate::?)()
+    ins: 0
+    outs: 4
+- 187651240027632:
+    symbol: void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::HazardLightsCommand*)
+    ins: 0
+    outs: 0
+- 187651240036592:
+    symbol: void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::GearCommand*)
+    ins: 0
+    outs: 0
+- 187651239969968:
+    symbol: void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::HazardLightsCommand*)
+    ins: 1
+    outs: 0
+- 187651240083056:
+    symbol: void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::GearCommand*)
+    ins: 0
+    outs: 0
+- 187651239991632:
+    symbol: void (VehicleCmdGate::?)(autoware_auto_control_msgs::msg::AckermannControlCommand*)
+    ins: 0
+    outs: 0
+- 187651239922832:
+    symbol: void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::SteeringReport*)
+    ins: 1
+    outs: 0
+- 187651239927824:
+    symbol: void (VehicleCmdGate::?)(autoware_auto_control_msgs::msg::AckermannControlCommand*)
+    ins: 2
+    outs: 2
+- 187651239890784:
+    symbol: void (VehicleCmdGate::?)(tier4_external_api_msgs::msg::Heartbeat*)
+    ins: 0
+    outs: 0
+- 187651239936720:
+    symbol: void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand*)
+    ins: 1
+    outs: 0
+- 187651239912896:
+    symbol: void (VehicleCmdGate::?)(tier4_control_msgs::msg::GateMode*)
+    ins: 1
+    outs: 0
+- 187651240046928:
+    symbol: void (VehicleCmdGate::?)(autoware_auto_control_msgs::msg::AckermannControlCommand*)
+    ins: 1
+    outs: 0
+/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner:
+- 187651170508848:
+    symbol: void (ObstacleAvoidancePlanner::?)(autoware_auto_planning_msgs::msg::Path*)
+    ins: 2
+    outs: 2
+- 187651170628208:
+    symbol: void (ObstacleAvoidancePlanner::?)(nav_msgs::msg::Odometry*)
+    ins: 1
+    outs: 0
+- 187651170706592:
+    symbol: void (ObstacleAvoidancePlanner::?)(autoware_auto_perception_msgs::msg::PredictedObjects*)
+    ins: 1
+    outs: 0
+- 187651170795920:
+    symbol: void (ObstacleAvoidancePlanner::?)(tier4_planning_msgs::msg::EnableAvoidance*)
+    ins: 1
+    outs: 0
+/system/ad_service_state_monitor:
+- 187650227078416:
+    symbol: void (AutowareStateMonitorNode::?)()
+    ins: 0
+    outs: 0
+- 187650226567200:
+    symbol: void (AutowareStateMonitorNode::?)(autoware_auto_vehicle_msgs::msg::Engage*)
+    ins: 1
+    outs: 0
+- 187650227078464:
+    symbol: void (AutowareStateMonitorNode::?)(autoware_auto_planning_msgs::msg::HADMapRoute*)
+    ins: 1
+    outs: 0
+- 187650227061536:
+    symbol: void (AutowareStateMonitorNode::?)(autoware_auto_vehicle_msgs::msg::ControlModeReport*)
+    ins: 1
+    outs: 0
+- 187650227086464:
+    symbol: void (AutowareStateMonitorNode::?)(nav_msgs::msg::Odometry*)
+    ins: 1
+    outs: 0
+/control/trajectory_follower/lateral_controller_node_exe:
+- 187651234295632:
+    symbol: void (autoware::motion::control::trajectory_follower_nodes::LateralController::?)(autoware_auto_vehicle_msgs::msg::SteeringReport*)
+    ins: 1
+    outs: 0
+- 187651233978848:
+    symbol: void (autoware::motion::control::trajectory_follower_nodes::LateralController::?)()
+    ins: 0
+    outs: 0
+- 187651234294336:
+    symbol: void (autoware::motion::control::trajectory_follower_nodes::LateralController::?)(autoware_auto_planning_msgs::msg::Trajectory*)
+    ins: 1
+    outs: 0
+- 187651234414560:
+    symbol: void (autoware::motion::control::trajectory_follower_nodes::LateralController::?)(nav_msgs::msg::Odometry*)
+    ins: 1
+    outs: 0
+/control/external_cmd_converter:
+- 187651236629808:
+    symbol: void (external_cmd_converter::ExternalCmdConverterNode::?)(tier4_external_api_msgs::msg::Heartbeat*)
+    ins: 0
+    outs: 0
+- 187651236539712:
+    symbol: void (external_cmd_converter::ExternalCmdConverterNode::?)(tier4_external_api_msgs::msg::ControlCommandStamped*)
+    ins: 0
+    outs: 0
+- 187651236518192:
+    symbol: void (external_cmd_converter::ExternalCmdConverterNode::?)(nav_msgs::msg::Odometry*)
+    ins: 1
+    outs: 0
+- 187651236612256:
+    symbol: void (external_cmd_converter::ExternalCmdConverterNode::?)(tier4_control_msgs::msg::GateMode*)
+    ins: 1
+    outs: 0
+- 187651236521888:
+    symbol: void (external_cmd_converter::ExternalCmdConverterNode::?)()
+    ins: 0
+    outs: 0
+- 187651236535728:
+    symbol: void (external_cmd_converter::ExternalCmdConverterNode::?)(autoware_auto_vehicle_msgs::msg::GearCommand*)
+    ins: 0
+    outs: 0
+/system/emergency_handler:
+- 187650829768384:
+    symbol: void (EmergencyHandler::?)(autoware_auto_system_msgs::msg::HazardStatusStamped*)
+    ins: 1
+    outs: 0
+- 187650830150352:
+    symbol: void (EmergencyHandler::?)()
+    ins: 0
+    outs: 3
+- 187650829824912:
+    symbol: void (EmergencyHandler::?)(autoware_auto_control_msgs::msg::AckermannControlCommand*)
+    ins: 2
+    outs: 0
+- 187650830033680:
+    symbol: void (HeaderlessHeartbeatChecker<autoware_auto_system_msgs::msg::HazardStatusStamped>::?)(autoware_auto_system_msgs::msg::HazardStatusStamped*)
+    ins: 1
+    outs: 0
+- 187650829931008:
+    symbol: void (EmergencyHandler::?)(nav_msgs::msg::Odometry*)
+    ins: 1
+    outs: 0
+- 187650830008528:
+    symbol: void (EmergencyHandler::?)(autoware_auto_vehicle_msgs::msg::ControlModeReport*)
+    ins: 1
+    outs: 0
+/control/trajectory_follower/latlon_muxer_node_exe:
+- 187651237083504:
+    symbol: void (autoware::motion::control::trajectory_follower_nodes::LatLonMuxer::?)(autoware_auto_control_msgs::msg::AckermannLateralCommand*)
+    ins: 0
+    outs: 2
+- 187651237165200:
+    symbol: void (autoware::motion::control::trajectory_follower_nodes::LatLonMuxer::?)(autoware_auto_control_msgs::msg::LongitudinalCommand*)
+    ins: 0
+    outs: 2
+/map/map_tf_generator:
+- 187650883819920:
+    symbol: void (MapTFGeneratorNode::?)(sensor_msgs::msg::PointCloud2*)
+    ins: 0
+    outs: 0
+/planning/mission_planning/mission_planner:
+- 187651612752912:
+    symbol: void (mission_planner::MissionPlanner::?)(geometry_msgs::msg::PoseStamped*)
+    ins: 1
+    outs: 7
+- 187651612976832:
+    symbol: void (mission_planner::MissionPlannerLanelet2::?)(autoware_auto_mapping_msgs::msg::HADMapBin*)
+    ins: 0
+    outs: 0
+- 187651612765392:
+    symbol: void (mission_planner::MissionPlanner::?)(geometry_msgs::msg::PoseStamped*)
+    ins: 1
+    outs: 0
+/system/system_error_monitor:
+- 187650864460272:
+    symbol: void (AutowareErrorMonitor::?)(autoware_auto_system_msgs::msg::AutowareState*)
+    ins: 0
+    outs: 0
+- 187650864330336:
+    symbol: void (AutowareErrorMonitor::?)(diagnostic_msgs::msg::DiagnosticArray*)
+    ins: 0
+    outs: 0
+- 187650864529200:
+    symbol: void (AutowareErrorMonitor::?)()
+    ins: 0
+    outs: 3
+- 187650864479216:
+    symbol: void (AutowareErrorMonitor::?)(autoware_auto_vehicle_msgs::msg::ControlModeReport*)
+    ins: 1
+    outs: 0
+- 187650864449376:
+    symbol: void (AutowareErrorMonitor::?)(tier4_control_msgs::msg::GateMode*)
+    ins: 1
+    outs: 0
+/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker:
+- 281472225979632:
+    symbol: void (surround_obstacle_checker::SurroundObstacleCheckerNode::?)(nav_msgs::msg::Odometry*)
+    ins: 1
+    outs: 0
+- 281472225878608:
+    symbol: void (surround_obstacle_checker::SurroundObstacleCheckerNode::?)(sensor_msgs::msg::PointCloud2*)
+    ins: 1
+    outs: 0
+- 281472225931680:
+    symbol: void (surround_obstacle_checker::SurroundObstacleCheckerNode::?)()
+    ins: 0
+    outs: 1
+- 281472225914304:
+    symbol: void (surround_obstacle_checker::SurroundObstacleCheckerNode::?)(autoware_auto_perception_msgs::msg::PredictedObjects*)
+    ins: 1
+    outs: 0
+/control/trajectory_follower/lane_departure_checker_node:
+- 187651237948160:
+    symbol: void (lane_departure_checker::LaneDepartureCheckerNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)
+    ins: 0
+    outs: 0
+- 187651237827456:
+    symbol: void (lane_departure_checker::LaneDepartureCheckerNode::?)(nav_msgs::msg::Odometry*)
+    ins: 1
+    outs: 0
+- 187651235161760:
+    symbol: void (lane_departure_checker::LaneDepartureCheckerNode::?)()
+    ins: 0
+    outs: 0
+- 187651237930272:
+    symbol: void (lane_departure_checker::LaneDepartureCheckerNode::?)(autoware_auto_planning_msgs::msg::HADMapRoute*)
+    ins: 1
+    outs: 0
+- 187651238195664:
+    symbol: void (lane_departure_checker::LaneDepartureCheckerNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)
+    ins: 1
+    outs: 0
+- 187651237831536:
+    symbol: void (lane_departure_checker::LaneDepartureCheckerNode::?)(autoware_auto_mapping_msgs::msg::HADMapBin*)
+    ins: 0
+    outs: 0
+/map/lanelet2_map_visualization:
+- 187650884621760:
+    symbol: void (Lanelet2MapVisualizationNode::?)(autoware_auto_mapping_msgs::msg::HADMapBin*)
+    ins: 0
+    outs: 1
+/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner:
+- 281471555072288:
+    symbol: void (motion_planning::ObstacleStopPlannerNode::?)(sensor_msgs::msg::PointCloud2*)
+    ins: 1
+    outs: 2
+- 281471555215120:
+    symbol: void (motion_planning::ObstacleStopPlannerNode::?)(tier4_planning_msgs::msg::ExpandStopRange*)
+    ins: 1
+    outs: 0
+- 281471555234272:
+    symbol: void (motion_planning::ObstacleStopPlannerNode::?)(nav_msgs::msg::Odometry*)
+    ins: 1
+    outs: 0
+- 281471555182320:
+    symbol: void (motion_planning::ObstacleStopPlannerNode::?)(autoware_auto_perception_msgs::msg::PredictedObjects*)
+    ins: 1
+    outs: 0
+- 281471555210208:
+    symbol: void (motion_planning::ObstacleStopPlannerNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)
+    ins: 1
+    outs: 2
+/control/shift_decider:
+- 187651238636192:
+    symbol: void (ShiftDecider::?)()
+    ins: 0
+    outs: 1
+- 187651238636368:
+    symbol: void (ShiftDecider::?)(autoware_auto_control_msgs::msg::AckermannControlCommand*)
+    ins: 2
+    outs: 0
+/planning/scenario_planning/motion_velocity_smoother:
+- 187651165396336:
+    symbol: void (motion_velocity_smoother::MotionVelocitySmootherNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)
+    ins: 2
+    outs: 5
+- 187651165425504:
+    symbol: void (motion_velocity_smoother::MotionVelocitySmootherNode::?)(nav_msgs::msg::Odometry*)
+    ins: 1
+    outs: 0
+- 187651165497712:
+    symbol: void (motion_velocity_smoother::MotionVelocitySmootherNode::?)(tier4_planning_msgs::msg::VelocityLimit*)
+    ins: 0
+    outs: 0
+/robot_state_publisher:
+- 187651122540608:
+    symbol: void (robot_state_publisher::RobotStatePublisher::?)(sensor_msgs::msg::JointState*)
+    ins: 1
+    outs: 0
+/planning/mission_planning/goal_pose_visualizer:
+- 187651613335744:
+    symbol: void (mission_planner::GoalPoseVisualizer::?)(autoware_auto_planning_msgs::msg::HADMapRoute*)
+    ins: 1
+    outs: 1
+/system/system_monitor/hdd_monitor:
+- 281470279497792:
+    symbol: void (HDDMonitor::?)()
+    ins: 0
+    outs: 0