Process Clang-based tool output.

Prepare for merge with ma-autoware-trace-analysis.

annotate_interactively.py

@@ -1,21 +1,334 @@
+import functools
 import json
-import os.path
+import os
-import sys
+import pickle
+import re
+from dataclasses import dataclass
+from typing import Tuple, List, Literal, Iterable
+
+import numpy as np
+import pandas as pd
 import termcolor
-from typing import Dict, List, Tuple
+
+IN_DIR = "/home/max/Projects/llvm-project/clang-tools-extra/ros2-internal-dependency-checker/output"
+SRC_DIR = "/home/max/Projects/autoware/src"
+
+OUT_NAME = "clang_objects.pkl"
+
+
+def SRC_FILE_NAME(in_file_name: str):
+    return os.path.join(SRC_DIR, in_file_name.replace("-", "/").replace(".json", ".cpp"))
 
 
 ignored_idfs = set()
 
 
+class SetEncoder(json.JSONEncoder):
+    def default(self, o):
+        if isinstance(o, set):
+            return list(o)
+        match o:
+            case set():
+                return list(o)
+            case list() | dict() | int() | float() | str():
+                return json.JSONEncoder.default(self, o)
+            case np.int64:
+                return json.JSONEncoder.default(self, int(o))
+
+        return json.JSONEncoder.default(self, o)
+
+
+def fuse_fields(f1, f2):
+    if f1 is None:
+        return f2
+
+    if f2 is None:
+        return f1
+
+    if f1 == f2:
+        return f1
+
+    raise ValueError(f"Inconsistent fields {f1=} and {f2=} cannot be fused")
+
+
+def fuse_objects(o1, o2):
+    field_names = o1.__dataclass_fields__.keys()
+    for f in field_names:
+        setattr(o1, f, fuse_fields(getattr(o1, f), getattr(o2, f)))
+    return o1
+
+
+@dataclass
+class SourceRange:
+    start_file: str
+    start_line: int | None
+    start_col: int | None
+
+    end_file: str
+    end_line: int | None
+    end_col: int | None
+
+    def __init__(self, json_obj):
+        begin = json_obj["begin"].split(":")
+        end = json_obj["end"].split(":")
+
+        self.start_file = os.path.realpath(begin[0])
+        self.start_line = int(begin[1]) if len(begin) > 1 else None
+        self.start_col = int(begin[2].split(" ")[0]) if len(begin) > 2 else None
+
+        self.end_file = os.path.realpath(end[0])
+        self.end_line = int(end[1]) if len(end) > 1 else None
+        self.end_col = int(end[2].split(" ")[0]) if len(end) > 2 else None
+
+    def __hash__(self):
+        return hash((self.start_file, self.start_line, self.start_col,
+                     self.end_file, self.end_line, self.end_col))
+
+
+@dataclass
+class Node:
+    id: int
+    qualified_name: str
+    source_range: 'SourceRange'
+    field_ids: List[int] | None
+    method_ids: List[int] | None
+
+    def __init__(self, json_obj):
+        self.id = json_obj['id']
+        self.qualified_name = json_obj['id']
+        self.source_range = SourceRange(json_obj['source_range'])
+        self.field_ids = list(map(lambda obj: obj['id'], json_obj['fields'])) if 'fields' in json_obj else None
+        self.method_ids = list(map(lambda obj: obj['id'], json_obj['methods'])) if 'methods' in json_obj else None
+
+    def __hash__(self):
+        return hash(self.id)
+
+
+@dataclass
+class Method:
+    id: int
+    qualified_name: str
+    source_range: 'SourceRange'
+    return_type: str | None
+    parameter_types: List[str] | None
+
+    def __init__(self, json_obj):
+        self.id = json_obj['id']
+        self.qualified_name = json_obj['qualified_name']
+        self.source_range = SourceRange(json_obj['source_range'])
+        self.return_type = json_obj['signature']['return_type'] if 'signature' in json_obj else None
+        self.parameter_types = json_obj['signature']['parameter_types'] if 'signature' in json_obj else None
+
+    def __hash__(self):
+        return hash(self.id)
+
+
+@dataclass
+class Field:
+    id: int
+    qualified_name: str
+    source_range: 'SourceRange'
+
+    def __init__(self, json_obj):
+        self.id = json_obj['id']
+        self.qualified_name = json_obj['qualified_name']
+        self.source_range = SourceRange(json_obj['source_range'])
+
+    def __hash__(self):
+        return hash(self.id)
+
+
+@dataclass
+class MemberRef:
+    type: Literal["read", "write", "call", "arg", "pub"] | None
+    member_chain: List[int]
+    method_id: int | None
+    node_id: int | None
+    source_range: 'SourceRange'
+
+    def __init__(self, json_obj):
+        access_type = json_obj['context']['access_type']
+        if access_type == 'none':
+            access_type = None
+        self.type = access_type
+        self.member_chain = list(map(lambda obj: obj['id'], json_obj['member'][::-1]))
+        self.method_id = json_obj['context']['method']['id'] if 'method' in json_obj['context'] else None
+        self.node_id = json_obj['context']['node']['id'] if 'node' in json_obj['context'] else None
+        self.source_range = SourceRange(json_obj['context']['statement']['source_range'])
+
+    def __hash__(self):
+        return self.source_range.__hash__()
+
+
+@dataclass
+class Subscription:
+    topic: str | None
+    callback_id: int | None
+    source_range: 'SourceRange'
+
+    def __init__(self, json_obj):
+        self.topic = json_obj['topic'] if 'topic' in json_obj else None
+        self.callback_id = json_obj['callback']['id'] if 'callback' in json_obj else None
+        self.source_range = SourceRange(json_obj['source_range'])
+
+    def __hash__(self):
+        return self.source_range.__hash__()
+
+
+@dataclass
+class Publisher:
+    topic: str | None
+    member_id: int | None
+    source_range: 'SourceRange'
+
+    def update(self, t2: 'Timer'):
+        return self
+
+    def __init__(self, json_obj):
+        self.topic = json_obj['topic'] if 'topic' in json_obj else None
+        self.member_id = json_obj['member']['id'] if 'member' in json_obj else None
+        self.source_range = SourceRange(json_obj['source_range'])
+
+    def __hash__(self):
+        return self.source_range.__hash__()
+
+
+@dataclass
+class Timer:
+    callback_id: int | None
+    source_range: 'SourceRange'
+
+    def __init__(self, json_obj):
+        self.callback_id = json_obj['callback']['id'] if 'callback' in json_obj else None
+        self.source_range = SourceRange(json_obj['source_range'])
+
+    def __hash__(self):
+        return self.source_range.__hash__()
+
+
+def find_data_deps(nodes: Iterable[Node], pubs: Iterable[Publisher], subs: Iterable[Subscription],
+                   timers: Iterable[Timer], fields, methods, accesses: Iterable[MemberRef]):
+    writes = set()
+    reads = set()
+    publications = set()
+
+    for member_ref in accesses:
+        member_id = member_ref.member_chain[0] if member_ref.member_chain else None
+        if member_id is None:
+            print(f"[WARN ] MemberRef without any members in chain @ {member_ref.source_range}")
+            continue
+
+        dep_tuple = (member_ref.method_id, member_id)
+
+        match member_ref.type:
+            case "write":
+                writes.add(dep_tuple)
+            case "read":
+                reads.add(dep_tuple)
+            case "call" | "arg":
+                writes.add(dep_tuple)
+                reads.add(dep_tuple)
+            case "pub":
+                publications.add(dep_tuple)
+
+    reads = pd.DataFrame.from_records(list(reads), columns=['method_id', 'member_id'])
+    writes = pd.DataFrame.from_records(list(writes), columns=['method_id', 'member_id'])
+    pub_dict = {method: set() for method, _ in publications}
+    for method, member in publications:
+        pub_dict[method].add(member)
+
+    deps = {}
+
+    for reading_method in reads["method_id"].unique().tolist():
+        deps[reading_method] = set()
+
+        read_members = reads[reads['method_id'] == reading_method]["member_id"].unique().tolist()
+
+        for read_member in read_members:
+            writing_methods = writes[writes['member_id'] == read_member]['method_id'].unique().tolist()
+            deps[reading_method].update(writing_methods)
+
+        deps[reading_method].discard(reading_method)  # Remove reflexive dependencies
+
+    return publications, deps
+
+
+def dedup(elems):
+    hash_map = {}
+
+    for e in elems:
+        if e.__hash__() not in hash_map:
+            hash_map[e.__hash__()] = []
+        hash_map[e.__hash__()].append(e)
+
+    ret_list = []
+    for hash, elems in hash_map.items():
+        if len(elems) == 1:
+            ret_list += elems
+            continue
+
+        elem = functools.reduce(fuse_objects, elems[1:], elems[0])
+        ret_list.append(elem)
+        print(f"Fused {len(elems)} {type(elem)}s")
+
+    return ret_list
+
+
+def definitions_from_json(cb_dict):
+    nodes = []
+    pubs = []
+    subs = []
+    timers = []
+    accesses = []
+    fields = []
+    methods = []
+
+    if "nodes" in cb_dict:
+        for node in cb_dict["nodes"]:
+            nodes.append(Node(node))
+            for field in node["fields"]:
+                fields.append(Field(field))
+            for method in node["methods"]:
+                methods.append(Method(method))
+
+    if "publishers" in cb_dict:
+        for publisher in cb_dict["publishers"]:
+            pubs.append(Publisher(publisher))
+
+    if "subscriptions" in cb_dict:
+        for subscription in cb_dict["subscriptions"]:
+            subs.append(Subscription(subscription))
+
+    if "timers" in cb_dict:
+        for timer in cb_dict["timers"]:
+            timers.append(Timer(timer))
+
+    if "accesses" in cb_dict:
+        for access_type in cb_dict["accesses"]:
+            for access in cb_dict["accesses"][access_type]:
+                accesses.append(MemberRef(access))
+
+    nodes = dedup(nodes)
+    pubs = dedup(pubs)
+    subs = dedup(subs)
+    timers = dedup(timers)
+    fields = dedup(fields)
+    methods = dedup(methods)
+
+    return nodes, pubs, subs, timers, fields, methods, accesses
+
+
 def highlight(substr: str, text: str):
-    return text.replace(substr, termcolor.colored(substr, 'green', attrs=['bold']))
+    regex = r"(?<=\W)({substr})(?=\W)|^({substr})$"
+    return re.sub(regex.format(substr=substr), termcolor.colored(r"\1\2", 'magenta', attrs=['bold']), text)
 
 
 def prompt_user(file: str, cb: str, idf: str, text: str) -> Tuple[str, bool, bool]:
-    print(f"{file.rstrip('.cpp')}->{cb}:")
+    print('\n' * 5)
-    print(highlight(idf, text))
+    print(f"{file.rstrip('.cpp').rstrip('.hpp')}\n->{cb}:")
-    answer = input(f"{highlight(idf, idf)}\nwrite (w), read (r), both (rw), ignore future (i) exit and save (q), undo (z), skip (Enter): ")
+    print(highlight(idf.split('::')[-1], text))
+    answer = input(f"{highlight(idf, idf)}\n"
+                   f"write (w), read (r), both (rw), ignore future (i) exit and save (q), undo (z), skip (Enter): ")
     if answer not in ["", "r", "w", "rw", "q", "z", "i"]:
         print(f"Invalid answer '{answer}', try again.")
         answer = prompt_user(file, cb, idf, text)
@@ -28,35 +341,25 @@ def prompt_user(file: str, cb: str, idf: str, text: str) -> Tuple[str, bool, boo
     return answer, answer == "q", answer == "z"
 
 
-def main(cb_dict: Dict):
+def main(nodes, cbs, fields, methods):
+    open_files = {}
     cb_rw_dict = {}
 
     jobs = []
 
-    for file, cbs in cb_dict.items():
+    for cb_id, cb_dict in cbs.items():
-        cb_rw_dict[file] = {}
+        cb_rw_dict[cb_dict['qualified_name']] = {'reads': set(), 'writes': set()}
-        for cb, cb_data in cbs.items():
+        for ref_dict in cb_dict['member_refs']:
-            cb: str
+            if ref_dict['file'] not in open_files:
-            if 'error' in cb_data:
+                with open(ref_dict['file'], 'r') as f:
-                print(f"Error: {cb_data['error']}")
+                    open_files[ref_dict['file']] = f.readlines()
-                continue
-            identifiers = cb_data['identifiers']
-            text_lines = cb_data['body_lines']
-            text = "".join(text_lines)
 
-            cb_rw_dict[file][cb] = {'reads': [], 'writes': []}
+            ln = ref_dict['start_line'] - 1
-
+            text = open_files[ref_dict['file']]
-            for idf in identifiers:
+            line = termcolor.colored(text[ln], None, "on_cyan")
-                jobs.append((file, cb, idf, text))
+            lines = [*text[ln - 3:ln], line, *text[ln + 1:ln + 4]]
-
+            text = ''.join(lines)
-    # Skip already saved mappings
+            jobs.append((ref_dict['file'], cb_dict['qualified_name'], ref_dict['qualified_name'], text))
-    if os.path.exists("cb_mapping.json"):
-        with open("cb_mapping.json", "r") as f:
-            prev_rw_dict = json.load(f)
-        jobs = [(file, cb, idf, text)
-                for file, cb, idf, text in jobs
-                if file not in prev_rw_dict
-                or cb not in prev_rw_dict[file]]
 
     i = 0
     do_undo = False
@@ -65,11 +368,17 @@ def main(cb_dict: Dict):
 
         if do_undo:
             ignored_idfs.discard(idf)
-            cb_rw_dict[file][cb]['reads'].remove(idf)
+            cb_rw_dict[cb]['reads'].discard(idf)
-            cb_rw_dict[file][cb]['writes'].remove(idf)
+            cb_rw_dict[cb]['writes'].discard(idf)
             do_undo = False
 
         if idf in ignored_idfs:
+            print("Ignoring", idf)
+            i += 1
+            continue
+
+        if idf in cb_rw_dict[cb]['reads'] and idf in cb_rw_dict[cb]['writes']:
+            print(f"{idf} is already written to and read from in {cb}, skipping.")
             i += 1
             continue
 
@@ -84,29 +393,47 @@ def main(cb_dict: Dict):
             continue
 
         if 'r' in classification:
-            cb_rw_dict[file][cb]['reads'].append(idf)
+            cb_rw_dict[cb]['reads'].add(idf)
         if 'w' in classification:
-            cb_rw_dict[file][cb]['writes'].append(idf)
+            cb_rw_dict[cb]['writes'].add(idf)
         if not any(x in classification for x in ['r', 'w']):
             print(f"Ignoring occurences of {idf} in cb.")
 
         i += 1
 
-    with open("cb_mapping.json", "w") as f:
+    with open("deps.json", "w") as f:
-        json.dump(cb_rw_dict, f)
+        json.dump(cb_rw_dict, f, cls=SetEncoder)
 
     print("Done.")
 
 
 if __name__ == "__main__":
-    if len(sys.argv) != 2:
+    out_dict = {}
-        print(f"Usage: {sys.argv[0]} <cb_identifiers.json>")
-        exit(0)
 
-    with open(sys.argv[1], "r") as f:
+    for filename in os.listdir(IN_DIR):
+        source_filename = SRC_FILE_NAME(filename)
+        print(f"Processing {source_filename}")
+        with open(os.path.join(IN_DIR, filename), "r") as f:
             cb_dict = json.load(f)
-        common_prefix = os.path.commonprefix(list(cb_dict.keys()))
+            if cb_dict is None:
-        strip_len = len(common_prefix)
+                print(f"  [WARN ] Empty tool output detected in {filename}")
-        cb_dict = {k[strip_len:]: v for k, v in cb_dict.items()}
+                continue
+            definitions = definitions_from_json(cb_dict)
+            deps, publications = find_data_deps(*definitions)
 
-    main(cb_dict)
+            (nodes, pubs, subs, timers, fields, methods, accesses) = definitions
+            out_dict[source_filename] = {
+                    "dependencies": deps,
+                    "publications": publications,
+                    "nodes": nodes,
+                    "publishers": pubs,
+                    "subscriptions": subs,
+                    "timers": timers,
+                    "fields": fields,
+                    "methods": methods
+            }
+
+    with open(OUT_NAME, "wb") as f:
+        pickle.dump(out_dict, f)
+
+    print("Done.")

ast_utils.py

@@ -1,281 +0,0 @@
-import clang.cindex as ci
-from clang.cindex import TokenKind as tk
-from clang.cindex import CursorKind as ck
-from typing import List
-
-
-class TUHandler:
-    BRACK_MAP = {
-        ')': '(',
-        ']': '[',
-        '>': '<',
-        '}': '{'
-    }
-
-    def __init__(self, tu: ci.TranslationUnit):
-        self.tu = tu
-
-    def get_subscription_callback_handlers(self):
-        #################################################
-        # Find create_subscription function calls
-        #################################################
-
-        c: ci.Cursor = self.tu.cursor
-        create_subscription_tokens = [
-            " ".join(map(lambda t2: t2.spelling, t.cursor.get_tokens()))
-            for t in c.get_tokens() 
-            if t.kind == tk.IDENTIFIER  and t.spelling == "create_subscription"
-            ]
-
-        print(create_subscription_tokens)
-        
-        #################################################
-        # Extract callback function identifier
-        #################################################
-
-
-        #################################################
-        # Locate definition for callback function
-        #################################################
-        pass
-
-    def get_timer_callback_handlers(self):
-        pass
-
-    def get_member_accesses(self, function_def: ci.Cursor):
-        pass
-
-    # def consume_generics(ts: List[ci.Token]):
-    #     if not ts or ts[0].spelling != '<':
-    #         return ts, None
-
-    #     gen = []
-    #     for i, t in enumerate(ts):
-    #         match t.spelling:
-    #             case '<':
-    #                 pass
-    #             case '>':
-    #                 return ts[i+1:], gen
-    #             case _:
-    #                 gen.append(t)
-
-    #     return ts, None
-
-    # def consume_args(ts: List[ci.Token]):
-    #     if not ts or ts[0].spelling != '(':
-    #         print(f"Opening token is {ts[0].spelling}, not (")
-    #         return ts, None
-
-    #     ts = ts[1:]  # strip start tok
-
-    #     args = []
-    #     current_arg = []
-    #     brack_depth = 1
-    #     for i, t in enumerate(ts):
-    #         match t.spelling:
-    #             case '(':
-    #                 brack_depth += 1
-    #                 current_arg.append(t)
-    #             case ')':
-    #                 brack_depth -= 1
-    #                 if brack_depth == 0:
-    #                     args.append(current_arg)
-    #                     return ts[i+1:], args
-    #                 else:
-    #                     current_arg.append(t)
-    #             case ',':
-    #                 if brack_depth > 1:
-    #                     current_arg.append(t)
-    #                 else:
-    #                     args.append(current_arg)
-    #                     current_arg = []
-    #             case _:
-    #                 current_arg.append(t)
-
-    #     return ts, None
-
-    # def consume_function_identifier(ts: List[ci.Token]):
-    #     identifier = []
-    #     for i, t in enumerate(ts):
-    #         match t.kind:
-    #             case tk.PUNCTUATION:
-    #                 match t.spelling:
-    #                     case "(" | "<":
-    #                         return ts[i:], identifier
-    #                     case _:
-    #                         identifier.append(t)
-    #             case _:
-    #                 identifier.append(t)
-
-    #     return ts, None
-
-    # def consume_function_call(ts: List[ci.Token]):
-    #     assert ts and ts[0].kind == tk.IDENTIFIER
-    #     ts, identifier = consume_function_identifier(ts)
-    #     ts, gen = consume_generics(ts)
-    #     ts, args = consume_args(ts)
-
-    #     return ts, identifier, gen, args
-
-    # def find_children(cur: ci.Cursor, find_func):
-    #     found = []
-    #     if find_func(cur):
-    #         found.append(cur)
-
-    #     for c in cur.get_children():
-    #         found += find_children(c, find_func)
-
-    #     return found
-
-    # def find_body(cur: ci.Cursor, symbol: List[ci.Token]):
-    #     if symbol is None:
-    #         return
-
-    #     method_candidates = find_children(cur, lambda c: c.kind == ck.CXX_METHOD and any(
-    #         map(lambda t: t.spelling == symbol[-1].spelling, c.get_tokens())))
-    #     valid_candidates = []
-    #     for cand in method_candidates:
-    #         func_bodies = find_children(
-    #             cand, lambda c: c.kind == ck.COMPOUND_STMT)
-    #         if not func_bodies:
-    #             continue
-    #         valid_candidates.append(func_bodies[0])
-
-    #     if len(valid_candidates) != 1:
-    #         print(
-    #             f"Error, {pt(symbol)} has {len(valid_candidates)} candidates for a function definition!")
-    #         return None
-
-    #     def _rec(c: ci.Cursor, lvl=0):
-    #         print(
-    #             f"{' '*lvl*2}{str(c.kind):.<40s} {c.spelling:30s} {';;'.join(str(arg.kind) for arg in c.get_arguments())}")
-    #         for ch in c.get_children():
-    #             _rec(ch, lvl+1)
-
-    #     _rec(valid_candidates[0])
-
-    #     return list(valid_candidates[0].get_tokens())
-
-    # def get_identifiers_with_lines(tokens: List[ci.Token]):
-
-    #     stmt_extent = (tokens[0].extent.start, tokens[-1].extent.end)
-    #     stmt_file = stmt_extent[0].file.name
-    #     file_slice = slice(stmt_extent[0].line, stmt_extent[-1].line)
-    #     with open(stmt_file, "r") as f:
-    #         stmt_text = f.readlines()[file_slice]
-
-    #     ids = []
-    #     cur_id = []
-    #     for t in tokens:
-    #         match t.kind:
-    #             case tk.IDENTIFIER:
-    #                 cur_id.append(t)
-    #             case tk.PUNCTUATION:
-    #                 match t.spelling:
-    #                     case "::" | "->" | ".":
-    #                         if cur_id:
-    #                             cur_id.append(t)
-    #                     case _:
-    #                         if cur_id:
-    #                             ids.append(cur_id)
-    #                             cur_id = []
-    #             case _:
-    #                 if cur_id:
-    #                     ids.append(cur_id)
-    #                     cur_id = []
-
-    #     return ids, stmt_text
-
-    # def consume_lambda_entry(ts: List[ci.Token]):
-    #     if not ts or ts[0].spelling != "[":
-    #         return ts, None
-
-    #     brack_level = 0
-    #     for i, t in enumerate(ts):
-    #         match t.spelling:
-    #             case '[':
-    #                 brack_level += 1
-    #             case ']':
-    #                 brack_level -= 1
-    #                 if brack_level == 0:
-    #                     return ts[i+1:], list(ts[1:i-1])
-
-    #     return ts, None
-
-    # def consume_braced_block(ts: List[ci.Token]):
-    #     if not ts or ts[0].spelling != "{":
-    #         return ts, None
-
-    #     brack_stack = []
-
-    #     for i, t in enumerate(ts):
-    #         match t.kind:
-    #             case tk.PUNCTUATION:
-    #                 match t.spelling:
-    #                     case '(' | '[' | '{':
-    #                         brack_stack.append(t)
-    #                     case ')' | ']' | '}':
-    #                         if brack_stack[-1].spelling == BRACK_MAP[t.spelling]:
-    #                             brack_stack.pop()
-    #                             if len(brack_stack) == 0:
-    #                                 return ts[i+1:], list(ts[:i])
-    #                         else:
-    #                             raise ValueError(
-    #                                 f"Invalid brackets: {pt(brack_stack)}, {t.spelling}")
-    #     return ts, None
-
-    # def consume_lambda_def(ts: List[ci.Token]):
-    #     ts, entry = consume_lambda_entry(ts)
-    #     ts, args = consume_args(ts)
-    #     ts, body = consume_braced_block(ts)
-    #     return ts, body
-
-    # def consume_callback_symbol(ts: List[ci.Token]):
-    #     lambda_body = None
-    #     if ts and ts[0].spelling == "std":
-    #         ts, identifier, gen, args = consume_function_call(ts)
-    #         if not args:
-    #             raise ValueError("Empty arg list")
-    #         if args[0][0].spelling != "&":
-    #             raise NotImplementedError(pt(args))
-    #         callback_sym = args[0][1:]
-    #     elif ts and ts[0].spelling == "[":
-    #         ts, lambda_body = consume_lambda_def(ts)
-    #         callback_sym = None
-    #     else:
-    #         print(
-    #             f"Error: {pt(ts[:30])} is a callback symbol of unknown structure")
-    #         callback_sym = None
-
-    #     return callback_sym, lambda_body
-
-    # def get_mappings(tu: ci.TranslationUnit):
-    #     cb_sym_to_identifiers_map = {}
-
-    #     ts_all = list(tu.cursor.get_tokens())
-    #     for i, t in enumerate(ts_all):
-    #         if t.kind == ci.TokenKind.IDENTIFIER and t.spelling == "create_subscription":
-    #             ts2, identifier, gen, args = consume_function_call(ts_all[i:])
-    #             cb = args[2]
-    #             cb_sym, body = consume_callback_symbol(cb)
-    #             cb_sym_key = pt(cb_sym) if cb_sym is not None else pt(cb)
-    #             print(cb_sym_key)
-    #             if body is None:
-    #                 body = find_body(tu.cursor, cb_sym)
-    #             if body is not None:
-    #                 #print("    ",pt(body))
-    #                 identifiers, text_lines = get_identifiers_with_lines(body)
-    #                 for l in text_lines:
-    #                     print(l.rstrip())
-
-    #                 if cb_sym_key not in cb_sym_to_identifiers_map:
-    #                     cb_sym_to_identifiers_map[cb_sym_key] = {'identifiers': list(
-    #                         map(pt, identifiers)), 'body_lines': text_lines}
-    #                 else:
-    #                     raise ValueError(
-    #                         f"Multiple create_subscription with same handler: {cb_sym_key}")
-    #             else:
-    #                 cb_sym_to_identifiers_map[cb_sym_key] = {
-    #                     'error': "No function body found"}
-    #                 #raise ValueError(f"No function body found for {cb_sym_key}")
-    #     return cb_sym_to_identifiers_map

digger.ipynb

@@ -1,824 +0,0 @@
-{
- "cells": [
-  {
-   "cell_type": "code",
-   "execution_count": 34,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "import requests\n",
-    "import json\n",
-    "import pandas as pd\n",
-    "from urllib.parse import quote\n",
-    "\n",
-    "jj = lambda a, b: f\"{a.rstrip('/')}/{b.lstrip('/')}\"\n",
-    "\n",
-    "def pp(arg):\n",
-    "    if isinstance(arg, str):\n",
-    "        arg = json.loads(arg)\n",
-    "    print(json.dumps(arg, indent=2, sort_keys=True))\n",
-    "    \n",
-    "\n",
-    "API_URL = \"http://localhost:8080/api/v1\"\n",
-    "BASE_DIR = \"/home/max/projects/autoware/src\"\n",
-    "\n",
-    "headers = {'Authorization': \"Bearer TOKEN\"}"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 42,
-   "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/filter.cpp                                               create_subscription        139     sub_input_ = <b>create_subscription</b>&lt;PointCloud2&gt;(                                                         \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/sensing/pointcloud_preprocessor/src/filter.cpp#create_subscription@139\n",
-      "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp                                            create_subscription         70   emergency_state_sub_ = this-&gt;<b>create_subscription</b>&lt;EmergencyState&gt;(                                     \n",
-      "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp                                            bind                        71     \"input/emergency_state\", 1, std::<b>bind</b>(&amp;VehicleCmdGate::onEmergencyState, this, _1));                     \n",
-      "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp                                            create_subscription         72   external_emergency_stop_heartbeat_sub_ = this-&gt;<b>create_subscription</b>&lt;Heartbeat&gt;(                        \n",
-      "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp                                            bind                        74     std::<b>bind</b>(&amp;VehicleCmdGate::onExternalEmergencyStopHeartbeat, this, _1));                                 \n",
-      "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp                                            create_subscription         75   gate_mode_sub_ = this-&gt;<b>create_subscription</b>&lt;GateMode&gt;(                                                 \n",
-      "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp                                            bind                        76     \"input/gate_mode\", 1, std::<b>bind</b>(&amp;VehicleCmdGate::onGateMode, this, _1));                                 \n",
-      "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp                                            create_subscription         77   engage_sub_ = this-&gt;<b>create_subscription</b>&lt;EngageMsg&gt;(                                                   \n",
-      "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp                                            bind                        78     \"input/engage\", 1, std::<b>bind</b>(&amp;VehicleCmdGate::onEngage, this, _1));                                      \n",
-      "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp                                            create_subscription         79   steer_sub_ = this-&gt;<b>create_subscription</b>&lt;SteeringReport&gt;(                                               \n",
-      "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp                                            bind                        80     \"input/steering\", 1, std::<b>bind</b>(&amp;VehicleCmdGate::onSteering, this, _1));                                  \n",
-      "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp                                            create_subscription         83   auto_control_cmd_sub_ = this-&gt;<b>create_subscription</b>&lt;AckermannControlCommand&gt;(                           \n",
-      "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp                                            bind                        84     \"input/auto/control_cmd\", 1, std::<b>bind</b>(&amp;VehicleCmdGate::onAutoCtrlCmd, this, _1));                       \n",
-      "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp                                            create_subscription         86   auto_turn_indicator_cmd_sub_ = this-&gt;<b>create_subscription</b>&lt;TurnIndicatorsCommand&gt;(                      \n",
-      "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp                                            bind                        88     std::<b>bind</b>(&amp;VehicleCmdGate::onAutoTurnIndicatorsCmd, this, _1));                                          \n",
-      "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp                                            create_subscription         90   auto_hazard_light_cmd_sub_ = this-&gt;<b>create_subscription</b>&lt;HazardLightsCommand&gt;(                          \n",
-      "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp                                            bind                        91     \"input/auto/hazard_lights_cmd\", 1, std::<b>bind</b>(&amp;VehicleCmdGate::onAutoHazardLightsCmd, this, _1));         \n",
-      "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp                                            create_subscription         93   auto_gear_cmd_sub_ = this-&gt;<b>create_subscription</b>&lt;GearCommand&gt;(                                          \n",
-      "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp                                            bind                        94     \"input/auto/gear_cmd\", 1, std::<b>bind</b>(&amp;VehicleCmdGate::onAutoShiftCmd, this, _1));                         \n",
-      "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp                                            create_subscription         97   remote_control_cmd_sub_ = this-&gt;<b>create_subscription</b>&lt;AckermannControlComman                               \n",
-      "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp                                            bind                        98     \"input/external/control_cmd\", 1, std::<b>bind</b>(&amp;VehicleCmdGate::onRemoteCtrlCmd, this, _1));                 \n",
-      "/universe/autoware.universe/system/system_monitor/test/src/cpu_monitor/test_tegra_cpu_monitor.cpp                        create_subscription        114     sub_ = monitor_-&gt;<b>create_subscription</b>&lt;diagnostic_msgs::msg::DiagnosticArray&gt;(                        \n",
-      "/universe/autoware.universe/system/system_monitor/test/src/cpu_monitor/test_tegra_cpu_monitor.cpp                        bind                       115       \"/diagnostics\", 1000, std::<b>bind</b>(&amp;TestCPUMonitor::diagCallback, monitor_.get(), _1));                   \n",
-      "/universe/autoware.universe/simulator/fault_injection/src/fault_injection_node/fault_injection_node.cpp                  create_subscription         56   sub_simulation_events_ = this-&gt;<b>create_subscription</b>&lt;SimulationEvents&gt;(                                 \n",
-      "/universe/autoware.universe/simulator/fault_injection/src/fault_injection_node/fault_injection_node.cpp                  bind                        58     std::<b>bind</b>(&amp;FaultInjectionNode::onSimulationEvents, this, _1));                                           \n",
-      "/universe/autoware.universe/planning/planning_evaluator/test/test_planning_evaluator_node.cpp                            create_subscription         85     metric_sub_ = rclcpp::<b>create_subscription</b>&lt;DiagnosticArray&gt;(                                            \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/planning_evaluator/test/test_planning_evaluator_node.cpp#create_subscription@85\n",
-      "/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp create_subscription        148   sub_odom_ = this-&gt;<b>create_subscription</b>&lt;nav_msgs::msg::Odometry&gt;(                                       \n",
-      "/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp bind                       149     \"~/input/odometry\", 1, std::<b>bind</b>(&amp;LaneDepartureCheckerNode::onOdometry, this, _1));                      \n",
-      "/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp create_subscription        150   sub_lanelet_map_bin_ = this-&gt;<b>create_subscription</b>&lt;HADMapBin&gt;(                                          \n",
-      "/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp bind                       152     std::<b>bind</b>(&amp;LaneDepartureCheckerNode::onLaneletMapBin, this, _1));                                        \n",
-      "/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp create_subscription        153   sub_route_ = this-&gt;<b>create_subscription</b>&lt;HADMapRoute&gt;(                                                  \n",
-      "/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp bind                       155     std::<b>bind</b>(&amp;LaneDepartureCheckerNode::onRoute, this, _1));                                                \n",
-      "/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp create_subscription        156   sub_reference_trajectory_ = this-&gt;<b>create_subscription</b>&lt;Trajectory&gt;(                                    \n",
-      "/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp bind                       158     std::<b>bind</b>(&amp;LaneDepartureCheckerNode::onReferenceTrajectory, this, _1));                                  \n",
-      "/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp create_subscription        159   sub_predicted_trajectory_ = this-&gt;<b>create_subscription</b>&lt;Trajectory&gt;(                                    \n",
-      "/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp bind                       161     std::<b>bind</b>(&amp;LaneDepartureCheckerNode::onPredictedTrajectory, this, _1));                                  \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/emergency.cpp                               create_subscription         35   sub_emergency_ = <b>create_subscription</b>&lt;tier4_external_api_msgs::msg::Emergency&gt;(                           \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/emergency.cpp                               bind                        36     \"/api/autoware/get/emergency\", rclcpp::QoS(1), std::<b>bind</b>(&amp;Emergency::getEmergency, this, _1));           \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rosbag_logging_mode.cpp                     create_subscription         38     <b>create_subscription</b>&lt;tier4_external_api_msgs::msg::RosbagLoggingMode&gt;(                                  \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rosbag_logging_mode.cpp                     bind                        40       std::<b>bind</b>(&amp;RosbagLoggingMode::onRosbagLoggingMode, this, _1));                                         \n",
-      "/universe/autoware.universe/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp                    create_subscription         34     <b>create_subscription</b>&lt;autoware_auto_system_msgs::msg::HazardStatusStamped&gt;(                              \n",
-      "/universe/autoware.universe/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp                    bind                        36       std::<b>bind</b>(&amp;EmergencyHandler::onHazardStatusStamped, this, _1));                                        \n",
-      "/universe/autoware.universe/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp                    create_subscription         38     <b>create_subscription</b>&lt;autoware_auto_control_msgs::msg::AckermannControlCommand&gt;(                         \n",
-      "/universe/autoware.universe/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp                    bind                        40       std::<b>bind</b>(&amp;EmergencyHandler::onPrevControlCommand, this, _1));                                         \n",
-      "/universe/autoware.universe/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp                    create_subscription         41   sub_odom_ = <b>create_subscription</b>&lt;nav_msgs::msg::Odometry&gt;(                                                \n",
-      "/universe/autoware.universe/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp                    bind                        42     \"~/input/odometry\", rclcpp::QoS{1}, std::<b>bind</b>(&amp;EmergencyHandler::onOdometry, this, _1));                 \n",
-      "/universe/autoware.universe/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp                    create_subscription         44   sub_control_mode_ = <b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::ControlModeReport&gt;(             \n",
-      "/universe/autoware.universe/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp                    bind                        45     \"~/input/control_mode\", rclcpp::QoS{1}, std::<b>bind</b>(&amp;EmergencyHandler::onControlMode, this, _1));          \n",
-      "/universe/autoware.universe/simulator/dummy_perception_publisher/src/node.cpp                                            create_subscription         92   object_sub_ = this-&gt;<b>create_subscription</b>&lt;dummy_perception_publisher::msg::Object&gt;(                     \n",
-      "/universe/autoware.universe/simulator/dummy_perception_publisher/src/node.cpp                                            bind                        94     std::<b>bind</b>(&amp;DummyPerceptionPublisherNode::objectCallback, this, std::placeholders::_1));                  \n",
-      "/universe/autoware.universe/localization/stop_filter/src/stop_filter.cpp                                                 create_subscription         38   sub_odom_ = <b>create_subscription</b>&lt;nav_msgs::msg::Odometry&gt;(                                                \n",
-      "/universe/autoware.universe/localization/stop_filter/src/stop_filter.cpp                                                 bind                        39     \"input/odom\", 1, std::<b>bind</b>(&amp;StopFilter::callbackOdometry, this, _1));                                    \n",
-      "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/trajectory_visualizer.py                           create_subscription        114         self.sub_localization_twist = self.<b>create_subscription</b>(                                                  \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/trajectory_visualizer.py#create_subscription@114\n",
-      "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/trajectory_visualizer.py                           create_subscription        117         self.sub_vehicle_twist = self.<b>create_subscription</b>(                                                       \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/trajectory_visualizer.py#create_subscription@117\n",
-      "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/trajectory_visualizer.py                           create_subscription        121         self.sub_external_velocity_limit = self.<b>create_subscription</b>(                                             \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/trajectory_visualizer.py#create_subscription@121\n",
-      "/universe/autoware.universe/sensing/livox/livox_tag_filter/src/livox_tag_filter_node/livox_tag_filter_node.cpp           create_subscription         46   sub_pointcloud_ = this-&gt;<b>create_subscription</b>&lt;sensor_msgs::msg::PointCloud2&gt;(                           \n",
-      "/universe/autoware.universe/sensing/livox/livox_tag_filter/src/livox_tag_filter_node/livox_tag_filter_node.cpp           bind                        47     \"input\", rclcpp::SensorDataQoS(), std::<b>bind</b>(&amp;LivoxTagFilterNode::onPointCloud, this, _1));               \n",
-      "/universe/external/grid_map/grid_map_demos/src/ImageToGridmapDemo.cpp                                                    create_subscription         24     this-&gt;<b>create_subscription</b>&lt;sensor_msgs::msg::Image&gt;(                                                 \n",
-      "/universe/external/grid_map/grid_map_demos/src/ImageToGridmapDemo.cpp                                                    bind                        26     std::<b>bind</b>(&amp;ImageToGridmapDemo::imageCallback, this, std::placeholders::_1));                             \n",
-      "/universe/autoware.universe/system/system_monitor/test/src/gpu_monitor/test_unknown_gpu_monitor.cpp                      create_subscription         61     sub_ = monitor_-&gt;<b>create_subscription</b>&lt;diagnostic_msgs::msg::DiagnosticArray&gt;(                        \n",
-      "/universe/autoware.universe/system/system_monitor/test/src/gpu_monitor/test_unknown_gpu_monitor.cpp                      bind                        62       \"/diagnostics\", 1000, std::<b>bind</b>(&amp;TestGPUMonitor::diagCallback, monitor_.get(), _1));                   \n",
-      "/universe/autoware.universe/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp                      create_subscription         81   sub_current_trajectory_ = <b>create_subscription</b>&lt;Trajectory&gt;(                                               \n",
-      "/universe/autoware.universe/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp                      bind                        82     \"~/input/trajectory\", 1, std::<b>bind</b>(&amp;MotionVelocitySmootherNode::onCurrentTrajectory, this, _1));         \n",
-      "/universe/autoware.universe/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp                      create_subscription         83   sub_current_odometry_ = <b>create_subscription</b>&lt;Odometry&gt;(                                                   \n",
-      "/universe/autoware.universe/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp                      bind                        85     std::<b>bind</b>(&amp;MotionVelocitySmootherNode::onCurrentOdometry, this, _1));                                    \n",
-      "/universe/autoware.universe/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp                      create_subscription         86   sub_external_velocity_limit_ = <b>create_subscription</b>&lt;VelocityLimit&gt;(                                       \n",
-      "/universe/autoware.universe/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp                      bind                        88     std::<b>bind</b>(&amp;MotionVelocitySmootherNode::onExternalVelocityLimit, this, _1));                              \n",
-      "/universe/autoware.universe/perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.cpp             create_subscription        123   tl_state_sub_ = <b>create_subscription</b>&lt;autoware_auto_perception_msgs::msg::TrafficSignalArray&gt;(             \n",
-      "/universe/autoware.universe/perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.cpp             bind                       125     std::<b>bind</b>(&amp;TrafficLightMapVisualizerNode::trafficSignalsCallback, this, _1));                            \n",
-      "/universe/autoware.universe/perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.cpp             create_subscription        126   vector_map_sub_ = <b>create_subscription</b>&lt;autoware_auto_mapping_msgs::msg::HADMapBin&gt;(                       \n",
-      "/universe/autoware.universe/perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.cpp             bind                       128     std::<b>bind</b>(&amp;TrafficLightMapVisualizerNode::binMapCallback, this, _1));                                    \n",
-      "/universe/autoware.universe/simulator/fault_injection/test/test_fault_injection_node.test.py                             create_subscription        103         self.test_node.<b>create_subscription</b>(                                                                      \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/simulator/fault_injection/test/test_fault_injection_node.test.py#create_subscription@103\n",
-      "/universe/autoware.universe/common/fake_test_node/test/test_fake_test_node.cpp                                           create_subscription         47     m_sub{this-&gt;<b>create_subscription</b>&lt;Int32&gt;(\"/input_topic\", 10, [&amp;](const Int32::SharedPtr msg) {    \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/common/fake_test_node/test/test_fake_test_node.cpp#create_subscription@47\n",
-      "/universe/autoware.universe/common/fake_test_node/test/test_fake_test_node.cpp                                           create_subscription         69   auto result_odom_subscription = fixture-&gt;template <b>create_subscription</b>&lt;Bool&gt;(                          \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/common/fake_test_node/test/test_fake_test_node.cpp#create_subscription@69\n",
-      "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp                                              create_subscription         97     this-&gt;<b>create_subscription</b>&lt;autoware_auto_planning_msgs::msg::PathWithLaneId&gt;(                        \n",
-      "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp                                              bind                        98       \"~/input/path_with_lane_id\", 1, std::<b>bind</b>(&amp;BehaviorVelocityPlannerNode::onTrigger, this, _1),          \n",
-      "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp                                              create_subscription        103     this-&gt;<b>create_subscription</b>&lt;autoware_auto_perception_msgs::msg::PredictedObjects&gt;(                    \n",
-      "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp                                              bind                       105       std::<b>bind</b>(&amp;BehaviorVelocityPlannerNode::onPredictedObjects, this, _1),                                 \n",
-      "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp                                              create_subscription        107   sub_no_ground_pointcloud_ = this-&gt;<b>create_subscription</b>&lt;sensor_msgs::msg::PointCloud2&gt;(                 \n",
-      "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp                                              bind                       109     std::<b>bind</b>(&amp;BehaviorVelocityPlannerNode::onNoGroundPointCloud, this, _1),                                 \n",
-      "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp                                              create_subscription        111   sub_vehicle_odometry_ = this-&gt;<b>create_subscription</b>&lt;nav_msgs::msg::Odometry&gt;(                           \n",
-      "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp                                              bind                       113     std::<b>bind</b>(&amp;BehaviorVelocityPlannerNode::onVehicleVelocity, this, _1),                                    \n",
-      "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp                                              create_subscription        115   sub_lanelet_map_ = this-&gt;<b>create_subscription</b>&lt;autoware_auto_mapping_msgs::msg::HADMapBin&gt;(             \n",
-      "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp                                              bind                       117     std::<b>bind</b>(&amp;BehaviorVelocityPlannerNode::onLaneletMap, this, _1),                                         \n",
-      "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp                                              create_subscription        120     this-&gt;<b>create_subscription</b>&lt;autoware_auto_perception_msgs::msg::TrafficSignalArray&gt;(                  \n",
-      "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp                                              bind                       122       std::<b>bind</b>(&amp;BehaviorVelocityPlannerNode::onTrafficSignals, this, _1),                                   \n",
-      "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp                                              create_subscription        124   sub_external_crosswalk_states_ = this-&gt;<b>create_subscription</b>&lt;tier4_api_msgs::msg::CrosswalkStatus&gt;(     \n",
-      "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp                                              bind                       126     std::<b>bind</b>(&amp;BehaviorVelocityPlannerNode::onExternalCrosswalkStates, this, _1),                            \n",
-      "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp                                              create_subscription        129     this-&gt;<b>create_subscription</b>&lt;tier4_api_msgs::msg::IntersectionStatus&gt;(                                 \n",
-      "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp                                              bind                       131       std::<b>bind</b>(&amp;BehaviorVelocityPlannerNode::onExternalIntersectionStates, this, _1));                      \n",
-      "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp                                              create_subscription        132   sub_external_velocity_limit_ = this-&gt;<b>create_subscription</b>&lt;VelocityLimit&gt;(                              \n",
-      "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp                                              bind                       134     std::<b>bind</b>(&amp;BehaviorVelocityPlannerNode::onExternalVelocityLimit, this, _1));                             \n",
-      "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp                                              create_subscription        136     this-&gt;<b>create_subscription</b>&lt;autoware_auto_perception_msg                                                 \n",
-      "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp                                              bind                       138       std::<b>bind</b>(&amp;BehaviorVelocityPlannerNode::onExternalTrafficSignals, this, _1),                           \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/map.cpp                                     create_subscription         34   sub_map_info_ = <b>create_subscription</b>&lt;tier4_external_api_msgs::msg::MapHash&gt;(                              \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/map.cpp                                     bind                        36     std::<b>bind</b>(&amp;Map::getMapHash, this, _1));                                                                  \n",
-      "/universe/autoware.universe/system/system_monitor/test/src/ntp_monitor/test_ntp_monitor.cpp                              create_subscription        100     sub_ = monitor_-&gt;<b>create_subscription</b>&lt;diagnostic_msgs::msg::DiagnosticArray&gt;(                        \n",
-      "/universe/autoware.universe/system/system_monitor/test/src/ntp_monitor/test_ntp_monitor.cpp                              bind                       101       \"/diagnostics\", 1000, std::<b>bind</b>(&amp;TestNTPMonitor::diagCallback, monitor_.get(), _1));                   \n",
-      "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp create_subscription         89   sub_init_pose_ = <b>create_subscription</b>&lt;PoseWithCovarianceStamped&gt;(                                         \n",
-      "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp bind                        90     \"/initialpose\", QoS{1}, std::<b>bind</b>(&amp;SimplePlanningSimulator::on_initialpose, this, _1));                  \n",
-      "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp create_subscription         91   sub_ackermann_cmd_ = <b>create_subscription</b>&lt;AckermannControlCommand&gt;(                                       \n",
-      "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp bind                        93     std::<b>bind</b>(&amp;SimplePlanningSimulator::on_ackermann_cmd, this, _1));                                        \n",
-      "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp create_subscription         94   sub_gear_cmd_ = <b>create_subscription</b>&lt;GearCommand&gt;(                                                        \n",
-      "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp bind                        95     \"input/gear_command\", QoS{1}, std::<b>bind</b>(&amp;SimplePlanningSimulator::on_gear_cmd, this, _1));               \n",
-      "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp create_subscription         96   sub_turn_indicators_cmd_ = <b>create_subscription</b>&lt;TurnIndicatorsCommand&gt;(                                   \n",
-      "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp bind                        98     std::<b>bind</b>(&amp;SimplePlanningSimulator::on_turn_indicators_cmd, this, _1));                                  \n",
-      "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp create_subscription         99   sub_hazard_lights_cmd_ = <b>create_subscription</b>&lt;HazardLightsCommand&gt;(                                       \n",
-      "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp bind                       101     std::<b>bind</b>(&amp;SimplePlanningSimulator::on_hazard_lights_cmd, this, _1));                                    \n",
-      "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp create_subscription        102   sub_trajectory_ = <b>create_subscription</b>&lt;Trajectory&gt;(                                                       \n",
-      "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp bind                       103     \"input/trajectory\", QoS{1}, std::<b>bind</b>(&amp;SimplePlanningSimulator::on_trajectory, this, _1));               \n",
-      "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp create_subscription        104   sub_engage_ = <b>create_subscription</b>&lt;Engage&gt;(                                                               \n",
-      "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp bind                       105     \"input/engage\", rclcpp::QoS{1}, std::<b>bind</b>(&amp;SimplePlanningSimulator::on_engage, this, _1));               \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/velocity.cpp                                create_subscription         33   sub_planning_velocity_ = <b>create_subscription</b>&lt;tier4_planning_msgs::msg::VelocityLimit&gt;(                   \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/velocity.cpp                                bind                        35     std::<b>bind</b>(&amp;Velocity::onVelocityLimit, this, _1));                                                        \n",
-      "/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp                                create_subscription        251   sub_diag_array_ = <b>create_subscription</b>&lt;diagnostic_msgs::msg::DiagnosticArray&gt;(                            \n",
-      "/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp                                bind                       252     \"input/diag_array\", rclcpp::QoS{1}, std::<b>bind</b>(&amp;AutowareErrorMonitor::onDiagArray, this, _1));            \n",
-      "/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp                                create_subscription        253   sub_current_gate_mode_ = <b>create_subscription</b>&lt;tier4_control_msgs::msg::GateMode&gt;(                         \n",
-      "/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp                                bind                       255     std::<b>bind</b>(&amp;AutowareErrorMonitor::onCurrentGateMode, this, _1));                                          \n",
-      "/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp                                create_subscription        256   sub_autoware_state_ = <b>create_subscription</b>&lt;autoware_auto_system_msgs::msg::AutowareState&gt;(                \n",
-      "/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp                                bind                       258     std::<b>bind</b>(&amp;AutowareErrorMonitor::onAutowareState, this, _1));                                            \n",
-      "/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp                                create_subscription        259   sub_control_mode_ = <b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::ControlModeReport&gt;(             \n",
-      "/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp                                bind                       261     std::<b>bind</b>(&amp;AutowareErrorMonitor::onControlMode, this, _1));                                              \n",
-      "/universe/autoware.universe/perception/detected_object_feature_remover/src/detected_object_feature_remover.cpp           create_subscription         23   sub_ = this-&gt;<b>create_subscription</b>&lt;DetectedObjectsWithFeature&gt;(                                         \n",
-      "/universe/autoware.universe/perception/detected_object_feature_remover/src/detected_object_feature_remover.cpp           bind                        24     \"~/input\", 1, std::<b>bind</b>(&amp;DetectedObjectFeatureRemover::objectCallback, this, _1));                       \n",
-      "/universe/autoware.universe/planning/obstacle_avoidance_planner/src/node.cpp                                             create_subscription        259   path_sub_ = <b>create_subscription</b>&lt;autoware_auto_planning_msgs::msg::Path&gt;(                                 \n",
-      "/universe/autoware.universe/planning/obstacle_avoidance_planner/src/node.cpp                                             bind                       261     std::<b>bind</b>(&amp;ObstacleAvoidancePlanner::pathCallback, this, std::placeholders::_1));                        \n",
-      "/universe/autoware.universe/planning/obstacle_avoidance_planner/src/node.cpp                                             create_subscription        262   odom_sub_ = <b>create_subscription</b>&lt;nav_msgs::msg::Odometry&gt;(                                                \n",
-      "/universe/autoware.universe/planning/obstacle_avoidance_planner/src/node.cpp                                             bind                       264     std::<b>bind</b>(&amp;ObstacleAvoidancePlanner::odomCallback, this, std::placeholders::_1));                        \n",
-      "/universe/autoware.universe/planning/obstacle_avoidance_planner/src/node.cpp                                             create_subscription        265   objects_sub_ = <b>create_subscription</b>&lt;autoware_auto_perception_msgs::msg::PredictedObjects&gt;(                \n",
-      "/universe/autoware.universe/planning/obstacle_avoidance_planner/src/node.cpp                                             bind                       267     std::<b>bind</b>(&amp;ObstacleAvoidancePlanner::objectsCallback, this, std::placeholders::_1));                     \n",
-      "/universe/autoware.universe/planning/obstacle_avoidance_planner/src/node.cpp                                             create_subscription        268   is_avoidance_sub_ = <b>create_subscription</b>&lt;tier4_planning_msgs::msg::EnableAvoidance&gt;(                      \n",
-      "/universe/autoware.universe/planning/obstacle_avoidance_planner/src/node.cpp                                             bind                       270     std::<b>bind</b>(&amp;ObstacleAvoidancePlanner::enableAvoidanceCallback, this, std::placeholders::_1));             \n",
-      "/universe/autoware.universe/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp                 create_subscription         37   pointcloud_sub_ = this-&gt;<b>create_subscription</b>&lt;sensor_msgs::msg::PointCloud2&gt;(                           \n",
-      "/universe/autoware.universe/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp                 bind                        39     std::<b>bind</b>(&amp;VoxelGridBasedEuclideanClusterNode::onPointCloud, this, _1));                                 \n",
-      "/universe/autoware.universe/localization/twist2accel/src/twist2accel.cpp                                                 create_subscription         35   sub_odom_ = <b>create_subscription</b>&lt;nav_msgs::msg::Odometry&gt;(                                                \n",
-      "/universe/autoware.universe/localization/twist2accel/src/twist2accel.cpp                                                 bind                        36     \"input/odom\", 1, std::<b>bind</b>(&amp;Twist2Accel::callbackOdometry, this, _1));                                   \n",
-      "/universe/autoware.universe/localization/twist2accel/src/twist2accel.cpp                                                 create_subscription         37   sub_twist_ = <b>create_subscription</b>&lt;geometry_msgs::msg::TwistWithCovarianceStamped&gt;(                        \n",
-      "/universe/autoware.universe/localization/twist2accel/src/twist2accel.cpp                                                 bind                        38     \"input/twist\", 1, std::<b>bind</b>(&amp;Twist2Accel::callbackTwistWithCovariance, this, _1));                       \n",
-      "/universe/autoware.universe/planning/obstacle_stop_planner/src/node.cpp                                                  create_subscription        524   obstacle_pointcloud_sub_ = this-&gt;<b>create_subscription</b>&lt;sensor_msgs::msg::PointCloud2&gt;(                  \n",
-      "/universe/autoware.universe/planning/obstacle_stop_planner/src/node.cpp                                                  bind                       526     std::<b>bind</b>(&amp;ObstacleStopPlannerNode::obstaclePointcloudCallback, this, std::placeholders::_1),            \n",
-      "/universe/autoware.universe/planning/obstacle_stop_planner/src/node.cpp                                                  create_subscription        528   path_sub_ = this-&gt;<b>create_subscription</b>&lt;Trajectory&gt;(                                                    \n",
-      "/universe/autoware.universe/planning/obstacle_stop_planner/src/node.cpp                                                  bind                       530     std::<b>bind</b>(&amp;ObstacleStopPlannerNode::pathCallback, this, std::placeholders::_1),                          \n",
-      "/universe/autoware.universe/planning/obstacle_stop_planner/src/node.cpp                                                  create_subscription        532   current_velocity_sub_ = this-&gt;<b>create_subscription</b>&lt;nav_msgs::msg::Odometry&gt;(                           \n",
-      "/universe/autoware.universe/planning/obstacle_stop_planner/src/node.cpp                                                  bind                       534     std::<b>bind</b>(&amp;ObstacleStopPlannerNode::currentVelocityCallback, this, std::placeholders::_1),               \n",
-      "/universe/autoware.universe/planning/obstacle_stop_planner/src/node.cpp                                                  create_subscription        536   dynamic_object_sub_ = this-&gt;<b>create_subscription</b>&lt;PredictedObjects&gt;(                                    \n",
-      "/universe/autoware.universe/planning/obstacle_stop_planner/src/node.cpp                                                  bind                       538     std::<b>bind</b>(&amp;ObstacleStopPlannerNode::dynamicObjectCallback, this, std::placeholders::_1),                 \n",
-      "/universe/autoware.universe/planning/obstacle_stop_planner/src/node.cpp                                                  create_subscription        540   expand_stop_range_sub_ = this-&gt;<b>create_subscription</b>&lt;ExpandStopRange&gt;(                                  \n",
-      "/universe/autoware.universe/planning/obstacle_stop_planner/src/node.cpp                                                  bind                       542     std::<b>bind</b>(                                                                                                   \n",
-      "/universe/autoware.universe/system/system_monitor/test/src/cpu_monitor/test_raspi_cpu_monitor.cpp                        create_subscription        113     sub_ = monitor_-&gt;<b>create_subscription</b>&lt;diagnostic_msgs::msg::DiagnosticArray&gt;(                        \n",
-      "/universe/autoware.universe/system/system_monitor/test/src/cpu_monitor/test_raspi_cpu_monitor.cpp                        bind                       114       \"/diagnostics\", 1000, std::<b>bind</b>(&amp;TestCPUMonitor::diagCallback, monitor_.get(), _1));                   \n",
-      "/sensor_component/external/tamagawa_imu_driver/src/tag_can_driver.cpp                                                    create_subscription        104   rclcpp::Subscription&lt;can_msgs::msg::Frame&gt;::SharedPtr sub = node-&gt;<b>create_subscription</b>&lt;can_msgs::msg::Frame&gt;(\"/can/imu\", 100, receive_CAN);\n",
-      "[WARN] Could not find matching bind statement for /sensor_component/external/tamagawa_imu_driver/src/tag_can_driver.cpp#create_subscription@104\n",
-      "/universe/autoware.universe/localization/initial_pose_button_panel/src/initial_pose_button_panel.cpp                     create_subscription         66   pose_cov_sub_ = raw_node-&gt;<b>create_subscription</b>&lt;geometry_msgs::msg::PoseWithCovarianceStamped&gt;(         \n",
-      "/universe/autoware.universe/localization/initial_pose_button_panel/src/initial_pose_button_panel.cpp                     bind                        68     std::<b>bind</b>(&amp;InitialPoseButtonPanel::callbackPoseCov, this, std::placeholders::_1));                       \n",
-      "/universe/autoware.universe/localization/initial_pose_button_panel/src/initial_pose_button_panel.cpp                     create_subscription         87   pose_cov_sub_ = raw_node-&gt;<b>create_subscription</b>&lt;geometry_msgs::msg::PoseWithCovarianceStamped&gt;(         \n",
-      "/universe/autoware.universe/localization/initial_pose_button_panel/src/initial_pose_button_panel.cpp                     bind                        89     std::<b>bind</b>(&amp;InitialPoseButtonPanel::callbackPoseCov, this, std::placeholders::_1));                       \n",
-      "/universe/autoware.universe/common/tier4_autoware_utils/include/tier4_autoware_utils/system/heartbeat_checker.hpp        create_subscription         30     sub_heartbeat_ = node.<b>create_subscription</b>&lt;HeartbeatMsg&gt;(                                               \n",
-      "/universe/autoware.universe/common/tier4_autoware_utils/include/tier4_autoware_utils/system/heartbeat_checker.hpp        bind                        31       topic_name, rclcpp::QoS{1}, std::<b>bind</b>(&amp;HeaderlessHeartbeatChecker::onHeartbeat, this, _1));            \n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/src/lateral_controller_node.cpp                            create_subscription        142   m_sub_ref_path = <b>create_subscription</b>&lt;autoware_auto_planning_msgs::msg::Trajectory&gt;(                      \n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/src/lateral_controller_node.cpp                            bind                       144     std::<b>bind</b>(&amp;LateralController::onTrajectory, this, _1));                                                  \n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/src/lateral_controller_node.cpp                            create_subscription        145   m_sub_steering = <b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::SteeringReport&gt;(                   \n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/src/lateral_controller_node.cpp                            bind                       147     std::<b>bind</b>(&amp;LateralController::onSteering, this, _1));                                                    \n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/src/lateral_controller_node.cpp                            create_subscription        148   m_sub_odometry = <b>create_subscription</b>&lt;nav_msgs::msg::Odometry&gt;(                                           \n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/src/lateral_controller_node.cpp                            bind                       150     std::<b>bind</b>(&amp;LateralController::onOdometry, this, _1));                                                    \n",
-      "/universe/autoware.universe/map/map_tf_generator/src/map_tf_generator_node.cpp                                           create_subscription         41     sub_ = <b>create_subscription</b>&lt;sensor_msgs::msg::PointCloud2&gt;(                                             \n",
-      "/universe/autoware.universe/map/map_tf_generator/src/map_tf_generator_node.cpp                                           bind                        43       std::<b>bind</b>(&amp;MapTFGeneratorNode::onPointCloud, this, std::placeholders::_1));                            \n",
-      "/universe/autoware.universe/system/system_monitor/test/src/cpu_monitor/test_arm_cpu_monitor.cpp                          create_subscription        113     sub_ = monitor_-&gt;<b>create_subscription</b>&lt;diagnostic_msgs::msg::DiagnosticArray&gt;(                        \n",
-      "/universe/autoware.universe/system/system_monitor/test/src/cpu_monitor/test_arm_cpu_monitor.cpp                          bind                       114       \"/diagnostics\", 1000, std::<b>bind</b>(&amp;TestCPUMonitor::diagCallback, monitor_.get(), _1));                   \n",
-      "/universe/autoware.universe/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp create_subscription         72   sub_obstacle_pointcloud_ = <b>create_subscription</b>&lt;sensor_msgs::msg::PointCloud2&gt;(                           \n",
-      "/universe/autoware.universe/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp bind                        74     std::<b>bind</b>(&amp;ObstacleCollisionCheckerNode::onObstaclePointcloud, this, _1));                               \n",
-      "/universe/autoware.universe/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp create_subscription         75   sub_reference_trajectory_ = <b>create_subscription</b>&lt;autoware_auto_planning_msgs::msg::Trajectory&gt;(           \n",
-      "/universe/autoware.universe/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp bind                        77     std::<b>bind</b>(&amp;ObstacleCollisionCheckerNode::onReferenceTrajectory, this, _1));                              \n",
-      "/universe/autoware.universe/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp create_subscription         78   sub_predicted_trajectory_ = <b>create_subscription</b>&lt;autoware_auto_planning_msgs::msg::Trajectory&gt;(           \n",
-      "/universe/autoware.universe/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp bind                        80     std::<b>bind</b>(&amp;ObstacleCollisionCheckerNode::onPredictedTrajectory, this, _1));                              \n",
-      "/universe/autoware.universe/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp create_subscription         81   sub_odom_ = <b>create_subscription</b>&lt;nav_msgs::msg::Odometry&gt;(                                                \n",
-      "/universe/autoware.universe/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp bind                        82     \"input/odometry\", 1, std::<b>bind</b>(&amp;ObstacleCollisionCheckerNode::onOdom, this, _1));                        \n",
-      "/universe/autoware.universe/control/joy_controller/src/joy_controller/joy_controller_node.cpp                            create_subscription        476   sub_joy_ = this-&gt;<b>create_subscription</b>&lt;sensor_msgs::msg::Joy&gt;(                                          \n",
-      "/universe/autoware.universe/control/joy_controller/src/joy_controller/joy_controller_node.cpp                            bind                       477     \"input/joy\", 1, std::<b>bind</b>(&amp;AutowareJoyControllerNode::onJoy, this, std::placeholders::_1),               \n",
-      "/universe/autoware.universe/control/joy_controller/src/joy_controller/joy_controller_node.cpp                            create_subscription        479   sub_odom_ = this-&gt;<b>create_subscription</b>&lt;nav_msgs::msg::Odometry&gt;(                                       \n",
-      "/universe/autoware.universe/control/joy_controller/src/joy_controller/joy_controller_node.cpp                            bind                       481     std::<b>bind</b>(&amp;AutowareJoyControllerNode::onOdometry, this, std::placeholders::_1),                          \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/start.cpp                                   create_subscription         28   sub_get_operator_ = <b>create_subscription</b>&lt;tier4_external_api_msgs::msg::Operator&gt;(                         \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/start.cpp                                   bind                        29     \"/api/external/get/operator\", rclcpp::QoS(1), std::<b>bind</b>(&amp;Start::getOperator, this, _1));                 \n",
-      "/universe/autoware.universe/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp             create_subscription         62   lateral_offset_subscriber_ = node.<b>create_subscription</b>&lt;LateralOffset&gt;(                                    \n",
-      "/universe/autoware.universe/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp             bind                        63     \"~/input/lateral_offset\", 1, std::<b>bind</b>(&amp;SideShiftModule::onLateralOffset, this, _1));                    \n",
-      "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp                            create_subscription         89   velocity_subscriber_ = <b>create_subscription</b>&lt;Odometry&gt;(                                                    \n",
-      "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp                            bind                        90     \"~/input/odometry\", 1, std::<b>bind</b>(&amp;BehaviorPathPlannerNode::onVelocity, this, _1),                        \n",
-      "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp                            create_subscription         92   perception_subscriber_ = <b>create_subscription</b>&lt;PredictedObjects&gt;(                                          \n",
-      "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp                            bind                        93     \"~/input/perception\", 1, std::<b>bind</b>(&amp;BehaviorPathPlannerNode::onPerception, this, _1),                    \n",
-      "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp                            create_subscription         95   scenario_subscriber_ = <b>create_subscription</b>&lt;Scenario&gt;(                                                    \n",
-      "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp                            bind                       103     std::<b>bind</b>(&amp;BehaviorPathPlannerNode::onExternalApproval, this, _1),                                       \n",
-      "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp                            create_subscription        101   external_approval_subscriber_ = <b>create_subscription</b>&lt;ApprovalMsg&gt;(                                        \n",
-      "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp                            bind                       103     std::<b>bind</b>(&amp;BehaviorPathPlannerNode::onExternalApproval, this, _1),                                       \n",
-      "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp                            create_subscription        105   force_approval_subscriber_ = <b>create_subscription</b>&lt;PathChangeModule&gt;(                                      \n",
-      "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp                            bind                       106     \"~/input/force_approval\", 1, std::<b>bind</b>(&amp;BehaviorPathPlannerNode::onForceApproval, this, _1),             \n",
-      "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp                            create_subscription        111   vector_map_subscriber_ = <b>create_subscription</b>&lt;HADMapBin&gt;(                                                 \n",
-      "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp                            bind                       112     \"~/input/vector_map\", qos_transient_local, std::<b>bind</b>(&amp;BehaviorPathPlannerNode::onMap, this, _1),         \n",
-      "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp                            create_subscription        114   route_subscriber_ = <b>create_subscription</b>&lt;HADMapRoute&gt;(                                                    \n",
-      "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp                            bind                       115     \"~/input/route\", qos_transient_local, std::<b>bind</b>(&amp;BehaviorPathPlannerNode::onRoute, this, _1),            \n",
-      "/universe/autoware.universe/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp create_subscription        430   sub_autoware_engage_ = this-&gt;<b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::Engage&gt;(            \n",
-      "/universe/autoware.universe/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp bind                       431     \"input/autoware_engage\", 1, std::<b>bind</b>(&amp;AutowareStateMonitorNode::onAutowareEngage, this, _1),            \n",
-      "/universe/autoware.universe/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp create_subscription        433   sub_control_mode_ = this-&gt;<b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::ControlModeReport&gt;(    \n",
-      "/universe/autoware.universe/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp bind                       434     \"input/control_mode\", 1, std::<b>bind</b>(&amp;AutowareStateMonitorNode::onVehicleControlMode, this, _1),           \n",
-      "/universe/autoware.universe/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp create_subscription        436   sub_route_ = this-&gt;<b>create_subscription</b>&lt;autoware_auto_planning_msgs::msg::HADMapRoute&gt;(                \n",
-      "/universe/autoware.universe/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp bind                       438     std::<b>bind</b>(&amp;AutowareStateMonitorNode::onRoute, this, _1), subscriber_option);                             \n",
-      "/universe/autoware.universe/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp create_subscription        439   sub_odom_ = this-&gt;<b>create_subscription</b>&lt;nav_msgs::msg::Odometry&gt;(                                       \n",
-      "/universe/autoware.universe/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp bind                       440     \"input/odometry\", 100, std::<b>bind</b>(&amp;AutowareStateMonitorNode::onOdometry, this, _1),                       \n",
-      "/universe/autoware.universe/localization/pose2twist/src/pose2twist_core.cpp                                              create_subscription         39   pose_sub_ = <b>create_subscription</b>&lt;geometry_msgs::msg::PoseStamped&gt;(                                        \n",
-      "/universe/autoware.universe/localization/pose2twist/src/pose2twist_core.cpp                                              bind                        40     \"pose\", queue_size, std::<b>bind</b>(&amp;Pose2Twist::callbackPose, this, _1));                                     \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/cpu_usage.cpp                               create_subscription         25   sub_cpu_usage_ = <b>create_subscription</b>&lt;tier4_external_api_msgs::msg::CpuUsage&gt;(                            \n",
-      "[WARN] Could not find matching bind statement for /universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/cpu_usage.cpp#create_subscription@25\n",
-      "/universe/autoware.universe/system/system_monitor/test/src/mem_monitor/test_mem_monitor.cpp                              create_subscription         99     sub_ = monitor_-&gt;<b>create_subscription</b>&lt;diagnostic_msgs::msg::DiagnosticArray&gt;(                        \n",
-      "/universe/autoware.universe/system/system_monitor/test/src/mem_monitor/test_mem_monitor.cpp                              bind                       100       \"/diagnostics\", 1000, std::<b>bind</b>(&amp;TestMemMonitor::diagCallback, monitor_.get(), _1));                   \n",
-      "/universe/autoware.universe/common/fake_test_node/include/fake_test_node/fake_test_node.hpp                              create_subscription        140   typename rclcpp::Subscription&lt;MsgT&gt;::SharedPtr <b>create_subscription</b>(                                      \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/common/fake_test_node/include/fake_test_node/fake_test_node.hpp#create_subscription@140\n",
-      "/universe/autoware.universe/common/fake_test_node/include/fake_test_node/fake_test_node.hpp                              create_subscription        146     auto subscription = m_fake_node-&gt;<b>create_subscription</b>&lt;MsgT&gt;(topic, qos, callback);                   \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/common/fake_test_node/include/fake_test_node/fake_test_node.hpp#create_subscription@146\n",
-      "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp        create_subscription         53     map_sub_ = this-&gt;<b>create_subscription</b>&lt;autoware_auto_mapping_msgs::msg::HADMapBin&gt;(                   \n",
-      "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp        bind                        55       std::<b>bind</b>(&amp;Lanelet2MapFilterComponent::mapCallback, this, _1));                                        \n",
-      "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp        create_subscription         56     pointcloud_sub_ = this-&gt;<b>create_subscription</b>&lt;PointCloud2&gt;(                                           \n",
-      "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp        bind                        58       std::<b>bind</b>(&amp;Lanelet2MapFilterComponent::pointcloudCallback, this, _1));                                 \n",
-      "/universe/autoware.universe/common/tier4_planning_rviz_plugin/src/tools/max_velocity.cpp                                 create_subscription        117     max_vel_sub_ = raw_node-&gt;<b>create_subscription</b>&lt;tier4_planning_msgs::msg::VelocityLimit&gt;(              \n",
-      "/universe/autoware.universe/common/tier4_planning_rviz_plugin/src/tools/max_velocity.cpp                                 bind                       119       std::<b>bind</b>(&amp;MaxVelocityDisplay::processMessage, this, std::placeholders::_1));                          \n",
-      "/universe/autoware.universe/system/system_monitor/test/src/gpu_monitor/test_tegra_gpu_monitor.cpp                        create_subscription         93     sub_ = monitor_-&gt;<b>create_subscription</b>&lt;diagnostic_msgs::msg::DiagnosticArray&gt;(                        \n",
-      "/universe/autoware.universe/system/system_monitor/test/src/gpu_monitor/test_tegra_gpu_monitor.cpp                        bind                        94       \"/diagnostics\", 1000, std::<b>bind</b>(&amp;TestGPUMonitor::diagCallback, monitor_.get(), _1));                   \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp                                 create_subscription         25   sub_state_ = <b>create_subscription</b>&lt;AutowareStateAuto&gt;(                                                     \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp                                 bind                        26     \"/autoware/state\", rclcpp::QoS(1), std::<b>bind</b>(&amp;IVMsgs::onState, this, _1));                               \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp                                 create_subscription         27   sub_emergency_ = <b>create_subscription</b>&lt;EmergencyStateAuto&gt;(                                                \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp                                 bind                        28     \"/system/emergency/emergency_state\", rclcpp::QoS(1), std::<b>bind</b>(&amp;IVMsgs::onEmergency, this, _1));         \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp                                 create_subscription         32   sub_control_mode_ = <b>create_subscription</b>&lt;ControlModeAuto&gt;(                                                \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp                                 bind                        33     \"/vehicle/status/control_mode\", rclcpp::QoS(1), std::<b>bind</b>(&amp;IVMsgs::onControlMode, this, _1));            \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp                                 create_subscription         37   sub_trajectory_ = <b>create_subscription</b>&lt;TrajectoryAuto&gt;(                                                   \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp                                 bind                        39     std::<b>bind</b>(&amp;IVMsgs::onTrajectory, this, _1));                                                             \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp                                 create_subscription         43   sub_tracked_objects_ = <b>create_subscription</b>&lt;TrackedObjectsAuto&gt;(                                          \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp                                 bind                        45     std::<b>bind</b>(&amp;IVMsgs::onTrackedObjects, this, _1));                                                         \n",
-      "/universe/autoware.universe/planning/planning_error_monitor/test/src/test_planning_error_monitor_pubsub.cpp              create_subscription         39     diag_sub_ = <b>create_subscription</b>&lt;DiagnosticArray&gt;(                                                      \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/planning_error_monitor/test/src/test_planning_error_monitor_pubsub.cpp#create_subscription@39\n",
-      "/universe/autoware.universe/perception/compare_map_segmentation/src/compare_elevation_map_filter_node.cpp                create_subscription         49   sub_map_ = this-&gt;<b>create_subscription</b>&lt;grid_map_msgs::msg::GridMap&gt;(                                    \n",
-      "/universe/autoware.universe/perception/compare_map_segmentation/src/compare_elevation_map_filter_node.cpp                bind                        51     std::<b>bind</b>(                                                                                                   \n",
-      "/universe/autoware.universe/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp                   create_subscription         75   sub_map_bin_ = this-&gt;<b>create_subscription</b>&lt;autoware_auto_mapping_msgs::msg::HADMapBin&gt;(                 \n",
-      "/universe/autoware.universe/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp                   bind                        77     std::<b>bind</b>(&amp;Lanelet2MapVisualizationNode::onMapBin, this, _1));                                           \n",
-      "/universe/autoware.universe/perception/map_based_prediction/src/map_based_prediction_node.cpp                            create_subscription         84   sub_objects_ = this-&gt;<b>create_subscription</b>&lt;TrackedObjects&gt;(                                             \n",
-      "/universe/autoware.universe/perception/map_based_prediction/src/map_based_prediction_node.cpp                            bind                        86     std::<b>bind</b>(&amp;MapBasedPredictionNode::objectsCallback, this, std::placeholders::_1));                       \n",
-      "/universe/autoware.universe/perception/map_based_prediction/src/map_based_prediction_node.cpp                            create_subscription         87   sub_map_ = this-&gt;<b>create_subscription</b>&lt;HADMapBin&gt;(                                                      \n",
-      "/universe/autoware.universe/perception/map_based_prediction/src/map_based_prediction_node.cpp                            bind                        89     std::<b>bind</b>(&amp;MapBasedPredictionNode::mapCallback, this, std::placeholders::_1));                           \n",
-      "/universe/autoware.universe/common/tier4_debug_tools/scripts/pose2tf.py                                                  create_subscription         32         self._sub_pose = self.<b>create_subscription</b>(                                                               \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/common/tier4_debug_tools/scripts/pose2tf.py#create_subscription@32\n",
-      "/universe/autoware.universe/common/tier4_debug_tools/scripts/stop_reason2pose.py                                         create_subscription         34         self._sub_pose = self.<b>create_subscription</b>(                                                               \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/common/tier4_debug_tools/scripts/stop_reason2pose.py#create_subscription@34\n",
-      "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp       create_subscription         52   sub_local_control_cmd_ = <b>create_subscription</b>&lt;ExternalControlCommand&gt;(                                    \n",
-      "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp       bind                        53     \"~/input/local/control_cmd\", 1, std::<b>bind</b>(&amp;ExternalCmdSelector::onLocalControlCmd, this, _1),            \n",
-      "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp       create_subscription         55   sub_local_shift_cmd_ = <b>create_subscription</b>&lt;ExternalGearShift&gt;(                                           \n",
-      "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp       bind                        56     \"~/input/local/shift_cmd\", 1, std::<b>bind</b>(&amp;ExternalCmdSelector::onLocalShiftCmd, this, _1),                \n",
-      "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp       create_subscription         58   sub_local_turn_signal_cmd_ = <b>create_subscription</b>&lt;ExternalTurnSignal&gt;(                                    \n",
-      "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp       bind                        60     std::<b>bind</b>(&amp;ExternalCmdSelector::onLocalTurnSignalCmd, this, _1), subscriber_option);                     \n",
-      "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp       create_subscription         61   sub_local_heartbeat_ = <b>create_subscription</b>&lt;ExternalHeartbeat&gt;(                                           \n",
-      "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp       bind                        62     \"~/input/local/heartbeat\", 1, std::<b>bind</b>(&amp;ExternalCmdSelector::onLocalHeartbeat, this, _1),               \n",
-      "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp       create_subscription         65   sub_remote_control_cmd_ = <b>create_subscription</b>&lt;ExternalControlCommand&gt;(                                   \n",
-      "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp       bind                        66     \"~/input/remote/control_cmd\", 1, std::<b>bind</b>(&amp;ExternalCmdSelector::onRemoteControlCmd, this, _1),          \n",
-      "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp       create_subscription         68   sub_remote_shift_cmd_ = <b>create_subscription</b>&lt;ExternalGearShift&gt;(                                          \n",
-      "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp       bind                        69     \"~/input/remote/shift_cmd\", 1, std::<b>bind</b>(&amp;ExternalCmdSelector::onRemoteShiftCmd, this, _1),              \n",
-      "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp       create_subscription         71   sub_remote_turn_signal_cmd_ = <b>create_subscription</b>&lt;ExternalTurnSignal&gt;(                                   \n",
-      "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp       bind                        73     std::<b>bind</b>(&amp;ExternalCmdSelector::onRemoteTurnSignalCmd, this, _1), subscriber_option);                    \n",
-      "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp       create_subscription         74   sub_remote_heartbeat_ = <b>create_subscription</b>&lt;ExternalHeartbeat&gt;(                                          \n",
-      "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp       bind                        75     \"~/input/remote/heartbeat\", 1, std::<b>bind</b>(&amp;ExternalCmdSelector::onRemoteHeartbeat, this, _1),             \n",
-      "/universe/autoware.universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/test/sim_actuation_status_publisher.py create_subscription         39         self.sub = self.<b>create_subscription</b>(                                                                     \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/test/sim_actuation_status_publisher.py#create_subscription@39\n",
-      "/universe/autoware.universe/planning/rtc_auto_approver/src/rtc_auto_approver_interface.cpp                               create_subscription         26   status_sub_ = node-&gt;<b>create_subscription</b>&lt;CooperateStatusArray&gt;(                                        \n",
-      "/universe/autoware.universe/planning/rtc_auto_approver/src/rtc_auto_approver_interface.cpp                               bind                        28     std::<b>bind</b>(&amp;RTCAutoApproverInterface::onStatus, this, _1));                                               \n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_latlon_muxer_node.cpp                            create_subscription         54     this-&gt;<b>create_subscription</b>&lt;ControlCommand&gt;(                                                          \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_latlon_muxer_node.cpp#create_subscription@54\n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_latlon_muxer_node.cpp                            create_subscription        100     this-&gt;<b>create_subscription</b>&lt;ControlCommand&gt;(                                                          \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_latlon_muxer_node.cpp#create_subscription@100\n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_latlon_muxer_node.cpp                            create_subscription        136     this-&gt;<b>create_subscription</b>&lt;ControlCommand&gt;(                                                          \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_latlon_muxer_node.cpp#create_subscription@136\n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_latlon_muxer_node.cpp                            create_subscription        172     this-&gt;<b>create_subscription</b>&lt;ControlCommand&gt;(                                                          \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_latlon_muxer_node.cpp#create_subscription@172\n",
-      "/universe/autoware.universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp create_subscription        188   velocity_sub_ = <b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::VelocityReport&gt;(                    \n",
-      "/universe/autoware.universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp bind                       190     std::<b>bind</b>(&amp;AccelBrakeMapCalibrator::callbackVelocity, this, _1));                                        \n",
-      "/universe/autoware.universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp create_subscription        191   steer_sub_ = <b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::SteeringReport&gt;(                       \n",
-      "/universe/autoware.universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp bind                       192     \"~/input/steer\", queue_size, std::<b>bind</b>(&amp;AccelBrakeMapCalibrator::callbackSteer, this, _1));              \n",
-      "/universe/autoware.universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp create_subscription        193   actuation_status_sub_ = <b>create_subscription</b>&lt;tier4_vehicle_msgs::msg::ActuationStatusStamped&gt;(            \n",
-      "/universe/autoware.universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp bind                       195     std::<b>bind</b>(&amp;AccelBrakeMapCalibrator::callbackActuationStatus, this, _1));                                 \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/route.cpp                                   create_subscription         90   sub_planning_route_ = <b>create_subscription</b>&lt;autoware_auto_planning_msgs::msg::HADMapRoute&gt;(                \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/route.cpp                                   bind                        92     std::<b>bind</b>(&amp;Route::onRoute, this, _1));                                                                   \n",
-      "/universe/autoware.universe/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp create_subscription         46   sub_map_ = this-&gt;<b>create_subscription</b>&lt;PointCloud2&gt;(                                                    \n",
-      "/universe/autoware.universe/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp bind                        48     std::<b>bind</b>(&amp;VoxelBasedApproximateCompareMapFilterComponent::input_target_callback, this, _1));            \n",
-      "/universe/external/grid_map/grid_map_demos/src/FiltersDemo.cpp                                                           create_subscription         26   subscriber_ = this-&gt;<b>create_subscription</b>&lt;grid_map_msgs::msg::GridMap&gt;(                                 \n",
-      "/universe/external/grid_map/grid_map_demos/src/FiltersDemo.cpp                                                           bind                        28     std::<b>bind</b>(&amp;FiltersDemo::callback, this, std::placeholders::_1));                                         \n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp                 create_subscription         78     this-&gt;<b>create_subscription</b>&lt;LongitudinalCommand&gt;(                                                     \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp#create_subscription@78\n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp                 create_subscription        150     this-&gt;<b>create_subscription</b>&lt;LongitudinalCommand&gt;(                                                     \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp#create_subscription@150\n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp                 create_subscription        222     this-&gt;<b>create_subscription</b>&lt;LongitudinalCommand&gt;(                                                     \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp#create_subscription@222\n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp                 create_subscription        294     this-&gt;<b>create_subscription</b>&lt;LongitudinalCommand&gt;(                                                     \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp#create_subscription@294\n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp                 create_subscription        358     this-&gt;<b>create_subscription</b>&lt;LongitudinalCommand&gt;(                                                     \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp#create_subscription@358\n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp                 create_subscription        422     this-&gt;<b>create_subscription</b>&lt;LongitudinalCommand&gt;(                                                     \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp#create_subscription@422\n",
-      "/universe/autoware.universe/localization/ekf_localizer/src/ekf_localizer.cpp                                             create_subscription         93   sub_initialpose_ = <b>create_subscription</b>&lt;geometry_msgs::msg::PoseWithCovarianceStamped&gt;(                   \n",
-      "/universe/autoware.universe/localization/ekf_localizer/src/ekf_localizer.cpp                                             bind                        94     \"initialpose\", 1, std::<b>bind</b>(&amp;EKFLocalizer::callbackInitialPose, this, _1));                              \n",
-      "/universe/autoware.universe/localization/ekf_localizer/src/ekf_localizer.cpp                                             create_subscription         95   sub_pose_with_cov_ = <b>create_subscription</b>&lt;geometry_msgs::msg::PoseWithCovarianceStamped&gt;(                 \n",
-      "/universe/autoware.universe/localization/ekf_localizer/src/ekf_localizer.cpp                                             bind                        96     \"in_pose_with_covariance\", 1, std::<b>bind</b>(&amp;EKFLocalizer::callbackPoseWithCovariance, this, _1));           \n",
-      "/universe/autoware.universe/localization/ekf_localizer/src/ekf_localizer.cpp                                             create_subscription         97   sub_twist_with_cov_ = <b>create_subscription</b>&lt;geometry_msgs::msg::TwistWithCovarianceStamped&gt;(               \n",
-      "/universe/autoware.universe/localization/ekf_localizer/src/ekf_localizer.cpp                                             bind                        98     \"in_twist_with_covariance\", 1, std::<b>bind</b>(&amp;EKFLocalizer::callbackTwistWithCovariance, this, _1));         \n",
-      "/universe/autoware.universe/planning/obstacle_cruise_planner/scripts/trajectory_visualizer.py                            create_subscription         68         self.sub_localization_twist = self.<b>create_subscription</b>(                                                  \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/obstacle_cruise_planner/scripts/trajectory_visualizer.py#create_subscription@68\n",
-      "/universe/autoware.universe/planning/obstacle_cruise_planner/scripts/trajectory_visualizer.py                            create_subscription         71         self.sub_vehicle_twist = self.<b>create_subscription</b>(                                                       \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/obstacle_cruise_planner/scripts/trajectory_visualizer.py#create_subscription@71\n",
-      "/universe/autoware.universe/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp                   create_subscription        223   sub_vector_map_ = raw_node_-&gt;<b>create_subscription</b>&lt;HADMapBin&gt;(                                          \n",
-      "/universe/autoware.universe/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp                   bind                       225     std::<b>bind</b>(&amp;TrafficLightPublishPanel::onVectorMap, this, _1));                                            \n",
-      "/universe/autoware.universe/planning/mission_planner/src/mission_planner_lanelet2/mission_planner_lanelet2.cpp           create_subscription        132   map_subscriber_ = <b>create_subscription</b>&lt;autoware_auto_mapping_msgs::msg::HADMapBin&gt;(                       \n",
-      "/universe/autoware.universe/planning/mission_planner/src/mission_planner_lanelet2/mission_planner_lanelet2.cpp           bind                       134     std::<b>bind</b>(&amp;MissionPlannerLanelet2::mapCallback, this, _1));                                              \n",
-      "/universe/autoware.universe/planning/behavior_velocity_planner/src/scene_module/run_out/dynamic_obstacle.cpp             create_subscription        151   sub_compare_map_filtered_pointcloud_ = node.<b>create_subscription</b>&lt;sensor_msgs::msg::PointCloud2&gt;(          \n",
-      "/universe/autoware.universe/planning/behavior_velocity_planner/src/scene_module/run_out/dynamic_obstacle.cpp             bind                       153     std::<b>bind</b>(&amp;DynamicObstacleCreatorForPoints::onCompareMapFilteredPointCloud, this, _1));                  \n",
-      "/universe/autoware.universe/sensing/image_transport_decompressor/src/image_transport_decompressor.cpp                    create_subscription         69   compressed_image_sub_ = <b>create_subscription</b>&lt;sensor_msgs::msg::CompressedImage&gt;(                          \n",
-      "/universe/autoware.universe/sensing/image_transport_decompressor/src/image_transport_decompressor.cpp                    bind                        71     std::<b>bind</b>(&amp;ImageTransportDecompressor::onCompressedImage, this, std::placeholders::_1));                 \n",
-      "/universe/autoware.universe/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp                  create_subscription        234     route_sub_ = <b>create_subscription</b>&lt;HADMapRoute&gt;(                                                         \n",
-      "/universe/autoware.universe/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp                  bind                       236       std::<b>bind</b>(&amp;FreespacePlannerNode::onRoute, this, _1));                                                  \n",
-      "/universe/autoware.universe/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp                  create_subscription        237     occupancy_grid_sub_ = <b>create_subscription</b>&lt;OccupancyGrid&gt;(                                              \n",
-      "/universe/autoware.universe/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp                  bind                       238       \"~/input/occupancy_grid\", 1, std::<b>bind</b>(&amp;FreespacePlannerNode::onOccupancyGrid, this, _1));             \n",
-      "/universe/autoware.universe/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp                  create_subscription        239     scenario_sub_ = <b>create_subscription</b>&lt;Scenario&gt;(                                                         \n",
-      "/universe/autoware.universe/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp                  bind                       240       \"~/input/scenario\", 1, std::<b>bind</b>(&amp;FreespacePlannerNode::onScenario, this, _1));                        \n",
-      "/universe/autoware.universe/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp                  create_subscription        241     odom_sub_ = <b>create_subscription</b>&lt;Odometry&gt;(                                                             \n",
-      "/universe/autoware.universe/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp                  bind                       242       \"~/input/odometry\", 100, std::<b>bind</b>(&amp;FreespacePlannerNode::onOdometry, this, _1));                      \n",
-      "/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp             create_subscription        328     this-&gt;<b>create_subscription</b>&lt;autoware_auto_planning_msgs::msg::Trajectory&gt;(                            \n",
-      "/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp             bind                       330       std::<b>bind</b>(&amp;ScenarioSelectorNode::onLaneDrivingTrajectory, this, std::placeholders::_1));               \n",
-      "/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp             create_subscription        332   sub_parking_trajectory_ = this-&gt;<b>create_subscription</b>&lt;autoware_auto_planning_msgs::msg::Trajectory&gt;(    \n",
-      "/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp             bind                       334     std::<b>bind</b>(&amp;ScenarioSelectorNode::onParkingTrajectory, this, std::placeholders::_1));                     \n",
-      "/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp             create_subscription        336   sub_lanelet_map_ = this-&gt;<b>create_subscription</b>&lt;autoware_auto_mapping_msgs::msg::HADMapBin&gt;(             \n",
-      "/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp             bind                       338     std::<b>bind</b>(&amp;ScenarioSelectorNode::onMap, this, std::placeholders::_1));                                   \n",
-      "/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp             create_subscription        339   sub_route_ = this-&gt;<b>create_subscription</b>&lt;autoware_auto_planning_msgs::msg::HADMapRoute&gt;(                \n",
-      "/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp             bind                       341     std::<b>bind</b>(&amp;ScenarioSelectorNode::onRoute, this, std::placeholders::_1));                                 \n",
-      "/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp             create_subscription        342   sub_odom_ = this-&gt;<b>create_subscription</b>&lt;nav_msgs::msg::Odometry&gt;(                                       \n",
-      "/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp             bind                       344     std::<b>bind</b>(&amp;ScenarioSelectorNode::onOdom, this, std::placeholders::_1));                                  \n",
-      "/universe/autoware.universe/perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp           create_subscription         45   sub_map_ = this-&gt;<b>create_subscription</b>&lt;PointCloud2&gt;(                                                    \n",
-      "/universe/autoware.universe/perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp           bind                        47     std::<b>bind</b>(&amp;VoxelBasedCompareMapFilterComponent::input_target_callback, this, _1));                       \n",
-      "/universe/autoware.universe/common/fake_test_node/design/fake_test_node-design.md                                        create_subscription         45   auto result_odom_subscription = <b>create_subscription</b>&lt;Bool&gt;(\"/output_topic\", *node,                        \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/common/fake_test_node/design/fake_test_node-design.md#create_subscription@45\n",
-      "/universe/autoware.universe/perception/traffic_light_map_based_detector/src/node.cpp                                     create_subscription         98   map_sub_ = <b>create_subscription</b>&lt;autoware_auto_mapping_msgs::msg::HADMapBin&gt;(                              \n",
-      "/universe/autoware.universe/perception/traffic_light_map_based_detector/src/node.cpp                                     bind                       100     std::<b>bind</b>(&amp;MapBasedDetector::mapCallback, this, _1));                                                    \n",
-      "/universe/autoware.universe/perception/traffic_light_map_based_detector/src/node.cpp                                     create_subscription        101   camera_info_sub_ = <b>create_subscription</b>&lt;sensor_msgs::msg::CameraInfo&gt;(                                    \n",
-      "/universe/autoware.universe/perception/traffic_light_map_based_detector/src/node.cpp                                     bind                       103     std::<b>bind</b>(&amp;MapBasedDetector::cameraInfoCallback, this, _1));                                             \n",
-      "/universe/autoware.universe/perception/traffic_light_map_based_detector/src/node.cpp                                     create_subscription        104   route_sub_ = <b>create_subscription</b>&lt;autoware_auto_planning_msgs::msg::HADMapRoute&gt;(                         \n",
-      "/universe/autoware.universe/perception/traffic_light_map_based_detector/src/node.cpp                                     bind                       106     std::<b>bind</b>(&amp;MapBasedDetector::routeCallback, this, _1));                                                  \n",
-      "/universe/autoware.universe/perception/object_range_splitter/src/node.cpp                                                create_subscription         23   sub_ = this-&gt;<b>create_subscription</b>&lt;autoware_auto_perception_msgs::msg::DetectedObjects&gt;(                \n",
-      "/universe/autoware.universe/perception/object_range_splitter/src/node.cpp                                                bind                        24     \"input/object\", rclcpp::QoS{1}, std::<b>bind</b>(&amp;ObjectRangeSplitterNode::objectCallback, this, _1));          \n",
-      "/universe/autoware.universe/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp                create_subscription        197   sub_objects_ = this-&gt;<b>create_subscription</b>&lt;autoware_auto_perception_msgs::msg::PredictedObjects&gt;(       \n",
-      "/universe/autoware.universe/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp                bind                       198     \"~/input/objects\", 1, std::<b>bind</b>(&amp;CostmapGenerator::onObjects, this, _1));                                \n",
-      "/universe/autoware.universe/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp                create_subscription        199   sub_points_ = this-&gt;<b>create_subscription</b>&lt;sensor_msgs::msg::PointCloud2&gt;(                               \n",
-      "/universe/autoware.universe/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp                bind                       201     std::<b>bind</b>(&amp;CostmapGenerator::onPoints, this, _1));                                                       \n",
-      "/universe/autoware.universe/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp                create_subscription        202   sub_lanelet_bin_map_ = this-&gt;<b>create_subscription</b>&lt;autoware_auto_mapping_msgs::msg::HADMapBin&gt;(         \n",
-      "/universe/autoware.universe/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp                bind                       204     std::<b>bind</b>(&amp;CostmapGenerator::onLaneletMapBin, this, _1));                                                \n",
-      "/universe/autoware.universe/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp                create_subscription        205   sub_scenario_ = this-&gt;<b>create_subscription</b>&lt;tier4_planning_msgs::msg::Scenario&gt;(                        \n",
-      "/universe/autoware.universe/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp                bind                       206     \"~/input/scenario\", 1, std::<b>bind</b>(&amp;CostmapGenerator::onScenario, this, _1));                              \n",
-      "/universe/autoware.universe/vehicle/raw_vehicle_cmd_converter/src/node.cpp                                               create_subscription         86   sub_control_cmd_ = <b>create_subscription</b>&lt;AckermannControlCommand&gt;(                                         \n",
-      "/universe/autoware.universe/vehicle/raw_vehicle_cmd_converter/src/node.cpp                                               bind                        87     \"~/input/control_cmd\", 1, std::<b>bind</b>(&amp;RawVehicleCommandConverterNode::onControlCmd, this, _1));           \n",
-      "/universe/autoware.universe/vehicle/raw_vehicle_cmd_converter/src/node.cpp                                               create_subscription         88   sub_velocity_ = <b>create_subscription</b>&lt;Odometry&gt;(                                                           \n",
-      "/universe/autoware.universe/vehicle/raw_vehicle_cmd_converter/src/node.cpp                                               bind                        89     \"~/input/odometry\", 1, std::<b>bind</b>(&amp;RawVehicleCommandConverterNode::onVelocity, this, _1));                \n",
-      "/universe/autoware.universe/vehicle/raw_vehicle_cmd_converter/src/node.cpp                                               create_subscription         90   sub_steering_ = <b>create_subscription</b>&lt;Steering&gt;(                                                           \n",
-      "/universe/autoware.universe/vehicle/raw_vehicle_cmd_converter/src/node.cpp                                               bind                        91     \"~/input/steering\", 1, std::<b>bind</b>(&amp;RawVehicleCommandConverterNode::onSteering, this, _1));                \n",
-      "/sensor_component/external/velodyne_vls/velodyne_pointcloud/src/conversions/convert.cc                                   create_subscription        150     this-&gt;<b>create_subscription</b>&lt;velodyne_msgs::msg::VelodyneScan&gt;(                                        \n",
-      "/sensor_component/external/velodyne_vls/velodyne_pointcloud/src/conversions/convert.cc                                   bind                       152     std::<b>bind</b>(&amp;Convert::processScan, this, std::placeholders::_1));                                          \n",
-      "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp                            create_subscription         68   control_cmd_sub_ = <b>create_subscription</b>&lt;autoware_auto_control_msgs::msg::AckermannControlCommand&gt;(        \n",
-      "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp                            bind                        69     \"/control/command/control_cmd\", 1, std::<b>bind</b>(&amp;PacmodInterface::callbackControlCmd, this, _1));           \n",
-      "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp                            create_subscription         70   gear_cmd_sub_ = <b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::GearCommand&gt;(                       \n",
-      "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp                            bind                        71     \"/control/command/gear_cmd\", 1, std::<b>bind</b>(&amp;PacmodInterface::callbackGearCmd, this, _1));                 \n",
-      "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp                            create_subscription         73     <b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand&gt;(                           \n",
-      "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp                            bind                        75       std::<b>bind</b>(&amp;PacmodInterface::callbackTurnIndicatorsCommand, this, _1));                                 \n",
-      "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp                            create_subscription         77     <b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::HazardLightsCommand&gt;(                             \n",
-      "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp                            bind                        79       std::<b>bind</b>(&amp;PacmodInterface::callbackHazardLightsCommand, this, _1));                                   \n",
-      "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp                            create_subscription         80   engage_cmd_sub_ = <b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::Engage&gt;(                          \n",
-      "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp                            bind                        81     \"/vehicle/engage\", rclcpp::QoS{1}, std::<b>bind</b>(&amp;PacmodInterface::callbackEngage, this, _1));               \n",
-      "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp                            create_subscription         82   actuation_cmd_sub_ = <b>create_subscription</b>&lt;ActuationCommandStamped&gt;(                                       \n",
-      "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp                            bind                        84     std::<b>bind</b>(&amp;PacmodInterface::callbackActuationCmd, this, _1));                                            \n",
-      "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp                            create_subscription         85   emergency_sub_ = <b>create_subscription</b>&lt;tier4_vehicle_msgs::msg::VehicleEmergencyStamped&gt;(                  \n",
-      "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp                            bind                        87     std::<b>bind</b>(&amp;PacmodInterface::callbackEmergencyCmd, this, _1));                                            \n",
-      "/universe/autoware.universe/planning/planning_evaluator/src/planning_evaluator_node.cpp                                  create_subscription         33   traj_sub_ = <b>create_subscription</b>&lt;Trajectory&gt;(                                                             \n",
-      "/universe/autoware.universe/planning/planning_evaluator/src/planning_evaluator_node.cpp                                  bind                        34     \"~/input/trajectory\", 1, std::<b>bind</b>(&amp;PlanningEvaluatorNode::onTrajectory, this, _1));                     \n",
-      "/universe/autoware.universe/planning/planning_evaluator/src/planning_evaluator_node.cpp                                  create_subscription         36   ref_sub_ = <b>create_subscription</b>&lt;Trajectory&gt;(                                                              \n",
-      "/universe/autoware.universe/planning/planning_evaluator/src/planning_evaluator_node.cpp                                  bind                        38     std::<b>bind</b>(&amp;PlanningEvaluatorNode::onReferenceTrajectory, this, _1));                                     \n",
-      "/universe/autoware.universe/planning/planning_evaluator/src/planning_evaluator_node.cpp                                  create_subscription         40   objects_sub_ = <b>create_subscription</b>&lt;PredictedObjects&gt;(                                                    \n",
-      "/universe/autoware.universe/planning/planning_evaluator/src/planning_evaluator_node.cpp                                  bind                        41     \"~/input/objects\", 1, std::<b>bind</b>(&amp;PlanningEvaluatorNode::onObjects, this, _1));                           \n",
-      "/sensor_component/external/tamagawa_imu_driver/src/tag_serial_driver.cpp                                                 create_subscription        145   rclcpp::Subscription&lt;std_msgs::msg::Int32&gt;::SharedPtr sub1 = node-&gt;<b>create_subscription</b>&lt;std_msgs::msg::Int32&gt;(\"receive_ver_req\", 10, receive_ver_req);\n",
-      "[WARN] Could not find matching bind statement for /sensor_component/external/tamagawa_imu_driver/src/tag_serial_driver.cpp#create_subscription@145\n",
-      "/sensor_component/external/tamagawa_imu_driver/src/tag_serial_driver.cpp                                                 create_subscription        146   rclcpp::Subscription&lt;std_msgs::msg::Int32&gt;::SharedPtr sub2 = node-&gt;<b>create_subscription</b>&lt;std_msgs::msg::Int32&gt;(\"receive_offset_cancel_req\", 10, receive_offset_cancel_req);\n",
-      "[WARN] Could not find matching bind statement for /sensor_component/external/tamagawa_imu_driver/src/tag_serial_driver.cpp#create_subscription@146\n",
-      "/sensor_component/external/tamagawa_imu_driver/src/tag_serial_driver.cpp                                                 create_subscription        147   rclcpp::Subscription&lt;std_msgs::msg::Int32&gt;::SharedPtr sub3 = node-&gt;<b>create_subscription</b>&lt;std_msgs::msg::Int32&gt;(\"receive_heading_reset_req\", 10, receive_heading_reset_req);\n",
-      "[WARN] Could not find matching bind statement for /sensor_component/external/tamagawa_imu_driver/src/tag_serial_driver.cpp#create_subscription@147\n",
-      "/universe/autoware.universe/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp  create_subscription         33   sub_map_ = this-&gt;<b>create_subscription</b>&lt;PointCloud2&gt;(                                                    \n",
-      "/universe/autoware.universe/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp  bind                        35     std::<b>bind</b>(&amp;VoxelDistanceBasedCompareMapFilterComponent::input_target_callback, this, _1));               \n",
-      "/universe/autoware.universe/control/pure_pursuit/src/pure_pursuit/pure_pursuit_node.cpp                                  create_subscription         76   sub_trajectory_ = this-&gt;<b>create_subscription</b>&lt;autoware_auto_planning_msgs::msg::Trajectory&gt;(            \n",
-      "/universe/autoware.universe/control/pure_pursuit/src/pure_pursuit/pure_pursuit_node.cpp                                  bind                        77     \"input/reference_trajectory\", 1, std::<b>bind</b>(&amp;PurePursuitNode::onTrajectory, this, _1));                   \n",
-      "/universe/autoware.universe/control/pure_pursuit/src/pure_pursuit/pure_pursuit_node.cpp                                  create_subscription         78   sub_current_odometry_ = this-&gt;<b>create_subscription</b>&lt;nav_msgs::msg::Odometry&gt;(                           \n",
-      "/universe/autoware.universe/control/pure_pursuit/src/pure_pursuit/pure_pursuit_node.cpp                                  bind                        79     \"input/current_odometry\", 1, std::<b>bind</b>(&amp;PurePursuitNode::onCurrentOdometry, this, _1));                  \n",
-      "/universe/autoware.universe/sensing/imu_corrector/src/imu_corrector_core.cpp                                             create_subscription         29   imu_sub_ = <b>create_subscription</b>&lt;sensor_msgs::msg::Imu&gt;(                                                   \n",
-      "/universe/autoware.universe/sensing/imu_corrector/src/imu_corrector_core.cpp                                             bind                        30     \"input\", rclcpp::QoS{1}, std::<b>bind</b>(&amp;ImuCorrector::callbackImu, this, std::placeholders::_1));            \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/door.cpp                                    create_subscription         33   sub_door_status_ = <b>create_subscription</b>&lt;tier4_api_msgs::msg::DoorStatus&gt;(                                 \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/door.cpp                                    bind                        34     \"/vehicle/status/door_status\", rclcpp::QoS(1), std::<b>bind</b>(&amp;Door::getDoorStatus, this, _1));               \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/operator.cpp                                create_subscription         47   sub_external_select_ = <b>create_subscription</b>&lt;tier4_control_msgs::msg::ExternalCommandSelectorMode&gt;(        \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/operator.cpp                                bind                        49     std::<b>bind</b>(&amp;Operator::onExternalSelect, this, _1));                                                       \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/operator.cpp                                create_subscription         50   sub_gate_mode_ = <b>create_subscription</b>&lt;tier4_control_msgs::msg::GateMode&gt;(                                 \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/operator.cpp                                bind                        51     \"/control/current_gate_mode\", rclcpp::QoS(1), std::<b>bind</b>(&amp;Operator::onGateMode, this, _1));               \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/operator.cpp                                create_subscription         53     <b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::ControlModeReport&gt;(                               \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/operator.cpp                                bind                        55       std::<b>bind</b>(&amp;Operator::onVehicleControlMode, this, _1));                                                 \n",
-      "/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp                                  create_subscription        218   initial_pose_sub_ = this-&gt;<b>create_subscription</b>&lt;geometry_msgs::msg::PoseWithCovarianceStamped&gt;(         \n",
-      "/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp                                  bind                       220     std::<b>bind</b>(&amp;NDTScanMatcher::callbackInitialPose, this, std::placeholders::_1),                            \n",
-      "/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp                                  create_subscription        222   map_points_sub_ = this-&gt;<b>create_subscription</b>&lt;sensor_msgs::msg::PointCloud2&gt;(                           \n",
-      "/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp                                  bind                       224     std::<b>bind</b>(&amp;NDTScanMatcher::callbackMapPoints, this, std::placeholders::_1), main_sub_opt);               \n",
-      "/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp                                  create_subscription        225   sensor_points_sub_ = this-&gt;<b>create_subscription</b>&lt;sensor_msgs::msg::PointCloud2&gt;(                        \n",
-      "/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp                                  bind                       227     std::<b>bind</b>(&amp;NDTScanMatcher::callbackSensorPoints, this, std::placeholders::_1), main_sub_opt);            \n",
-      "/universe/autoware.universe/control/shift_decider/src/shift_decider.cpp                                                  create_subscription         34   sub_control_cmd_ = <b>create_subscription</b>&lt;autoware_auto_control_msgs::msg::AckermannControlCommand&gt;(        \n",
-      "/universe/autoware.universe/control/shift_decider/src/shift_decider.cpp                                                  bind                        35     \"input/control_cmd\", queue_size, std::<b>bind</b>(&amp;ShiftDecider::onControlCmd, this, _1));                      \n",
-      "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp            create_subscription         44   velocity_report_sub_ = this-&gt;<b>create_subscription</b>&lt;VelocityReport&gt;(                                     \n",
-      "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp            bind                        46     std::<b>bind</b>(&amp;DistortionCorrectorComponent::onVelocityReport, this, std::placeholders::_1));                \n",
-      "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp            create_subscription         47   input_points_sub_ = this-&gt;<b>create_subscription</b>&lt;PointCloud2&gt;(                                           \n",
-      "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp            bind                        49     std::<b>bind</b>(&amp;DistortionCorrectorComponent::onPointCloud, this, std::placeholders::_1));                    \n",
-      "/universe/autoware.universe/common/goal_distance_calculator/src/goal_distance_calculator_node.cpp                        create_subscription         50   sub_route_ = <b>create_subscription</b>&lt;autoware_auto_planning_msgs::msg::Route&gt;(                               \n",
-      "/universe/autoware.universe/common/goal_distance_calculator/src/goal_distance_calculator_node.cpp                        bind                        60     this, get_clock(), period_ns, std::<b>bind</b>(&amp;GoalDistanceCalculatorNode::onTimer, this));                    \n",
-      "/universe/autoware.universe/system/system_monitor/test/src/gpu_monitor/test_nvml_gpu_monitor.cpp                         create_subscription         95     sub_ = monitor_-&gt;<b>create_subscription</b>&lt;diagnostic_msgs::msg::DiagnosticArray&gt;(                        \n",
-      "/universe/autoware.universe/system/system_monitor/test/src/gpu_monitor/test_nvml_gpu_monitor.cpp                         bind                        96       \"/diagnostics\", 1000, std::<b>bind</b>(&amp;TestGPUMonitor::diagCallback, monitor_.get(), _1));                   \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp                          create_subscription         82   sub_velocity_ = <b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::VelocityReport&gt;(                    \n",
-      "[WARN] Could not find matching bind statement for /universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp#create_subscription@82\n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp                          create_subscription         87   sub_steering_ = <b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::SteeringReport&gt;(                    \n",
-      "[WARN] Could not find matching bind statement for /universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp#create_subscription@87\n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp                          create_subscription         92   sub_turn_indicators_ = <b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport&gt;(       \n",
-      "[WARN] Could not find matching bind statement for /universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp#create_subscription@92\n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp                          create_subscription         97   sub_hazard_lights_ = <b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::HazardLightsReport&gt;(           \n",
-      "[WARN] Could not find matching bind statement for /universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp#create_subscription@97\n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp                          create_subscription        102   sub_gear_shift_ = <b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::GearReport&gt;(                      \n",
-      "[WARN] Could not find matching bind statement for /universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp#create_subscription@102\n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp                          create_subscription        110   sub_cmd_ = <b>create_subscription</b>&lt;autoware_auto_control_msgs::msg::AckermannControlCommand&gt;(                \n",
-      "[WARN] Could not find matching bind statement for /universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp#create_subscription@110\n",
-      "/universe/autoware.universe/localization/localization_error_monitor/src/node.cpp                                         create_subscription         44   pose_with_cov_sub_ = this-&gt;<b>create_subscription</b>&lt;geometry_msgs::msg::PoseWithCovarianceStamped&gt;(        \n",
-      "/universe/autoware.universe/localization/localization_error_monitor/src/node.cpp                                         bind                        46     std::<b>bind</b>(&amp;LocalizationErrorMonitor::onPoseWithCovariance, this, std::placeholders::_1));                \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/engage.cpp                                  create_subscription         37   sub_engage_status_ = <b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::Engage&gt;(                       \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/engage.cpp                                  bind                        38     \"/api/autoware/get/engage\", rclcpp::QoS(1), std::<b>bind</b>(&amp;Engage::onEngageStatus, this, _1));               \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/engage.cpp                                  create_subscription         39   sub_autoware_state_ = <b>create_subscription</b>&lt;autoware_auto_system_msgs::msg::AutowareState&gt;(                \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/engage.cpp                                  bind                        40     \"/autoware/state\", rclcpp::QoS(1), std::<b>bind</b>(&amp;Engage::onAutowareState, this, _1));                       \n",
-      "/universe/autoware.universe/system/system_monitor/test/src/process_monitor/test_process_monitor.cpp                      create_subscription        104     sub_ = monitor_-&gt;<b>create_subscription</b>&lt;diagnostic_msgs::msg::DiagnosticArray&gt;(                        \n",
-      "/universe/autoware.universe/system/system_monitor/test/src/process_monitor/test_process_monitor.cpp                      bind                       105       \"/diagnostics\", 1000, std::<b>bind</b>(&amp;TestProcessMonitor::diagCallback, monitor_.get(), _1));               \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/calibration_status.cpp                      create_subscription         46     <b>create_subscription</b>&lt;tier4_external_api_msgs::msg::CalibrationStatus&gt;(                                  \n",
-      "[WARN] Could not find matching bind statement for /universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/calibration_status.cpp#create_subscription@46\n",
-      "/sensor_component/external/velodyne_vls/velodyne_pointcloud/src/conversions/interpolate.cc                               create_subscription         31   velocity_report_sub_ = this-&gt;<b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::VelocityReport&gt;(    \n",
-      "/sensor_component/external/velodyne_vls/velodyne_pointcloud/src/conversions/interpolate.cc                               bind                        33     std::<b>bind</b>(&amp;Interpolate::processVelocityReport, this, std::placeholders::_1));                            \n",
-      "/sensor_component/external/velodyne_vls/velodyne_pointcloud/src/conversions/interpolate.cc                               create_subscription         34   velodyne_points_ex_sub_ = this-&gt;<b>create_subscription</b>&lt;sensor_msgs::msg::PointCloud2&gt;(                   \n",
-      "/sensor_component/external/velodyne_vls/velodyne_pointcloud/src/conversions/interpolate.cc                               bind                        35     \"velodyne_points_ex\", rclcpp::SensorDataQoS(), std::<b>bind</b>(&amp;Interpolate::processPoints,this, std::placeholders::_1));\n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/src/longitudinal_controller_node.cpp                       create_subscription        171   m_sub_current_velocity = <b>create_subscription</b>&lt;nav_msgs::msg::Odometry&gt;(                                   \n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/src/longitudinal_controller_node.cpp                       bind                       173     std::<b>bind</b>(&amp;LongitudinalController::callbackCurrentVelocity, this, _1));                                  \n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/src/longitudinal_controller_node.cpp                       create_subscription        174   m_sub_trajectory = <b>create_subscription</b>&lt;autoware_auto_planning_msgs::msg::Trajectory&gt;(                    \n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/src/longitudinal_controller_node.cpp                       bind                       176     std::<b>bind</b>(&amp;LongitudinalController::callbackTrajectory, this, _1));                                       \n",
-      "/universe/autoware.universe/planning/planning_error_monitor/src/planning_error_monitor_node.cpp                          create_subscription         36   traj_sub_ = <b>create_subscription</b>&lt;Trajectory&gt;(                                                             \n",
-      "/universe/autoware.universe/planning/planning_error_monitor/src/planning_error_monitor_node.cpp                          bind                        37     \"~/input/trajectory\", 1, std::<b>bind</b>(&amp;PlanningErrorMonitorNode::onCurrentTrajectory, this, _1));           \n",
-      "/universe/autoware.universe/control/control_performance_analysis/src/control_performance_analysis_node.cpp               create_subscription         59   sub_trajectory_ = <b>create_subscription</b>&lt;Trajectory&gt;(                                                       \n",
-      "/universe/autoware.universe/control/control_performance_analysis/src/control_performance_analysis_node.cpp               bind                        61     std::<b>bind</b>(&amp;ControlPerformanceAnalysisNode::onTrajectory, this, _1));                                     \n",
-      "/universe/autoware.universe/control/control_performance_analysis/src/control_performance_analysis_node.cpp               create_subscription         63   sub_control_cmd_ = <b>create_subscription</b>&lt;AckermannControlCommand&gt;(                                         \n",
-      "/universe/autoware.universe/control/control_performance_analysis/src/control_performance_analysis_node.cpp               bind                        64     \"~/input/control_raw\", 1, std::<b>bind</b>(&amp;ControlPerformanceAnalysisNode::onControlRaw, this, _1));           \n",
-      "/universe/autoware.universe/control/control_performance_analysis/src/control_performance_analysis_node.cpp               create_subscription         66   sub_vehicle_steering_ = <b>create_subscription</b>&lt;SteeringReport&gt;(                                             \n",
-      "/universe/autoware.universe/control/control_performance_analysis/src/control_performance_analysis_node.cpp               bind                        68     std::<b>bind</b>(&amp;ControlPerformanceAnalysisNode::onVecSteeringMeasured, this, _1));                            \n",
-      "/universe/autoware.universe/control/control_performance_analysis/src/control_performance_analysis_node.cpp               create_subscription         70   sub_velocity_ = <b>create_subscription</b>&lt;Odometry&gt;(                                                           \n",
-      "/universe/autoware.universe/control/control_performance_analysis/src/control_performance_analysis_node.cpp               bind                        71     \"~/input/odometry\", 1, std::<b>bind</b>(&amp;ControlPerformanceAnalysisNode::onVelocity, this, _1));                \n",
-      "/universe/autoware.universe/system/system_monitor/test/src/cpu_monitor/test_unknown_cpu_monitor.cpp                      create_subscription         61     sub_ = monitor_-&gt;<b>create_subscription</b>&lt;diagnostic_msgs::msg::DiagnosticArray&gt;(                        \n",
-      "/universe/autoware.universe/system/system_monitor/test/src/cpu_monitor/test_unknown_cpu_monitor.cpp                      bind                        62       \"/diagnostics\", 1000, std::<b>bind</b>(&amp;TestCPUMonitor::diagCallback, monitor_.get(), _1));                   \n",
-      "/universe/autoware.universe/sensing/image_diagnostics/src/image_diagnostics_node.cpp                                     create_subscription         24   image_sub_ = <b>create_subscription</b>&lt;sensor_msgs::msg::Image&gt;(                                               \n",
-      "/universe/autoware.universe/sensing/image_diagnostics/src/image_diagnostics_node.cpp                                     bind                        26     std::<b>bind</b>(&amp;ImageDiagNode::ImageChecker, this, std::placeholders::_1));                                   \n",
-      "/universe/autoware.universe/common/tier4_debug_tools/src/lateral_error_publisher.cpp                                     create_subscription         28   sub_trajectory_ = <b>create_subscription</b>&lt;autoware_auto_planning_msgs::msg::Trajectory&gt;(                     \n",
-      "/universe/autoware.universe/common/tier4_debug_tools/src/lateral_error_publisher.cpp                                     bind                        30     std::<b>bind</b>(&amp;LateralErrorPublisher::onTrajectory, this, _1));                                              \n",
-      "/universe/autoware.universe/common/tier4_debug_tools/src/lateral_error_publisher.cpp                                     create_subscription         31   sub_vehicle_pose_ = <b>create_subscription</b>&lt;geometry_msgs::msg::PoseWithCovarianceStamped&gt;(                  \n",
-      "/universe/autoware.universe/common/tier4_debug_tools/src/lateral_error_publisher.cpp                                     bind                        33     std::<b>bind</b>(&amp;LateralErrorPublisher::onVehiclePose, this, _1));                                             \n",
-      "/universe/autoware.universe/common/tier4_debug_tools/src/lateral_error_publisher.cpp                                     create_subscription         34   sub_ground_truth_pose_ = <b>create_subscription</b>&lt;geometry_msgs::msg::PoseWithCovarianceStamped&gt;(             \n",
-      "/universe/autoware.universe/common/tier4_debug_tools/src/lateral_error_publisher.cpp                                     bind                        36     std::<b>bind</b>(&amp;LateralErrorPublisher::onGroundTruthPose, this, _1));                                         \n",
-      "/universe/autoware.universe/planning/surround_obstacle_checker/src/node.cpp                                              create_subscription        170   sub_pointcloud_ = this-&gt;<b>create_subscription</b>&lt;sensor_msgs::msg::PointCloud2&gt;(                           \n",
-      "/universe/autoware.universe/planning/surround_obstacle_checker/src/node.cpp                                              bind                       172     std::<b>bind</b>(&amp;SurroundObstacleCheckerNode::onPointCloud, this, std::placeholders::_1));                     \n",
-      "/universe/autoware.universe/planning/surround_obstacle_checker/src/node.cpp                                              create_subscription        173   sub_dynamic_objects_ = this-&gt;<b>create_subscription</b>&lt;PredictedObjects&gt;(                                   \n",
-      "/universe/autoware.universe/planning/surround_obstacle_checker/src/node.cpp                                              bind                       175     std::<b>bind</b>(&amp;SurroundObstacleCheckerNode::onDynamicObjects, this, std::placeholders::_1));                 \n",
-      "/universe/autoware.universe/planning/surround_obstacle_checker/src/node.cpp                                              create_subscription        176   sub_odometry_ = this-&gt;<b>create_subscription</b>&lt;nav_msgs::msg::Odometry&gt;(                                   \n",
-      "/universe/autoware.universe/planning/surround_obstacle_checker/src/node.cpp                                              bind                       178     std::<b>bind</b>(&amp;SurroundObstacleCheckerNode::onOdometry, this, std::placeholders::_1));                       \n",
-      "/universe/autoware.universe/planning/external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp      create_subscription         75   sub_external_velocity_limit_from_api_ = this-&gt;<b>create_subscription</b>&lt;VelocityLimit&gt;(                     \n",
-      "/universe/autoware.universe/planning/external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp      bind                        77     std::<b>bind</b>(&amp;ExternalVelocityLimitSelectorNode::onVelocityLimitFromAPI, this, _1));                        \n",
-      "/universe/autoware.universe/planning/external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp      create_subscription         79   sub_external_velocity_limit_from_internal_ = this-&gt;<b>create_subscription</b>&lt;VelocityLimit&gt;(                \n",
-      "/universe/autoware.universe/planning/external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp      bind                        81     std::<b>bind</b>(&amp;ExternalVelocityLimitSelectorNode::onVelocityLimitFromInternal, this, _1));                   \n",
-      "/universe/autoware.universe/planning/external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp      create_subscription         83   sub_velocity_limit_clear_command_ = this-&gt;<b>create_subscription</b>&lt;VelocityLimitClearCommand&gt;(             \n",
-      "/universe/autoware.universe/planning/external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp      bind                        85     std::<b>bind</b>(&amp;ExternalVelocityLimitSelectorNode::onVelocityLimitClearCommand, this, _1));                   \n",
-      "/universe/autoware.universe/system/system_monitor/test/src/cpu_monitor/test_intel_cpu_monitor.cpp                        create_subscription        115     sub_ = monitor_-&gt;<b>create_subscription</b>&lt;diagnostic_msgs::msg::DiagnosticArray&gt;(                        \n",
-      "/universe/autoware.universe/system/system_monitor/test/src/cpu_monitor/test_intel_cpu_monitor.cpp                        bind                       116       \"/diagnostics\", 1000, std::<b>bind</b>(&amp;TestCPUMonitor::diagCallback, monitor_.get(), _1));                   \n",
-      "/universe/autoware.universe/system/system_monitor/test/src/net_monitor/test_net_monitor.cpp                              create_subscription         90     sub_ = monitor_-&gt;<b>create_subscription</b>&lt;diagnostic_msgs::msg::DiagnosticArray&gt;(                        \n",
-      "/universe/autoware.universe/system/system_monitor/test/src/net_monitor/test_net_monitor.cpp                              bind                        91       \"/diagnostics\", 1000, std::<b>bind</b>(&amp;TestNetMonitor::diagCallback, monitor_.get(), _1));                   \n",
-      "/universe/autoware.universe/planning/obstacle_cruise_planner/src/node.cpp                                                create_subscription        180   trajectory_sub_ = <b>create_subscription</b>&lt;Trajectory&gt;(                                                       \n",
-      "/universe/autoware.universe/planning/obstacle_cruise_planner/src/node.cpp                                                bind                       182     std::<b>bind</b>(&amp;ObstacleCruisePlannerNode::onTrajectory, this, _1));                                          \n",
-      "/universe/autoware.universe/planning/obstacle_cruise_planner/src/node.cpp                                                create_subscription        183   smoothed_trajectory_sub_ = <b>create_subscription</b>&lt;Trajectory&gt;(                                              \n",
-      "/universe/autoware.universe/planning/obstacle_cruise_planner/src/node.cpp                                                bind                       185     std::<b>bind</b>(&amp;ObstacleCruisePlannerNode::onSmoothedTrajectory, this, _1));                                  \n",
-      "/universe/autoware.universe/planning/obstacle_cruise_planner/src/node.cpp                                                create_subscription        186   objects_sub_ = <b>create_subscription</b>&lt;PredictedObjects&gt;(                                                    \n",
-      "/universe/autoware.universe/planning/obstacle_cruise_planner/src/node.cpp                                                bind                       187     \"~/input/objects\", rclcpp::QoS{1}, std::<b>bind</b>(&amp;ObstacleCruisePlannerNode::onObjects, this, _1));          \n",
-      "/universe/autoware.universe/planning/obstacle_cruise_planner/src/node.cpp                                                create_subscription        188   odom_sub_ = <b>create_subscription</b>&lt;Odometry&gt;(                                                               \n",
-      "/universe/autoware.universe/planning/obstacle_cruise_planner/src/node.cpp                                                bind                       190     std::<b>bind</b>(&amp;ObstacleCruisePlannerNode::onOdometry, this, std::placeholders::_1));                         \n",
-      "/universe/autoware.universe/vehicle/external_cmd_converter/src/node.cpp                                                  create_subscription         31   sub_velocity_ = <b>create_subscription</b>&lt;Odometry&gt;(                                                           \n",
-      "/universe/autoware.universe/vehicle/external_cmd_converter/src/node.cpp                                                  bind                        32     \"in/odometry\", 1, std::<b>bind</b>(&amp;ExternalCmdConverterNode::onVelocity, this, _1));                           \n",
-      "/universe/autoware.universe/vehicle/external_cmd_converter/src/node.cpp                                                  create_subscription         33   sub_control_cmd_ = <b>create_subscription</b>&lt;ExternalControlCommand&gt;(                                          \n",
-      "/universe/autoware.universe/vehicle/external_cmd_converter/src/node.cpp                                                  bind                        34     \"in/external_control_cmd\", 1, std::<b>bind</b>(&amp;ExternalCmdConverterNode::onExternalCmd, this, _1));            \n",
-      "/universe/autoware.universe/vehicle/external_cmd_converter/src/node.cpp                                                  create_subscription         35   sub_shift_cmd_ = <b>create_subscription</b>&lt;GearCommand&gt;(                                                       \n",
-      "/universe/autoware.universe/vehicle/external_cmd_converter/src/node.cpp                                                  bind                        36     \"in/shift_cmd\", 1, std::<b>bind</b>(&amp;ExternalCmdConverterNode::onGearCommand, this, _1));                       \n",
-      "/universe/autoware.universe/vehicle/external_cmd_converter/src/node.cpp                                                  create_subscription         37   sub_gate_mode_ = <b>create_subscription</b>&lt;tier4_control_msgs::msg::GateMode&gt;(                                 \n",
-      "/universe/autoware.universe/vehicle/external_cmd_converter/src/node.cpp                                                  bind                        38     \"in/current_gate_mode\", 1, std::<b>bind</b>(&amp;ExternalCmdConverterNode::onGateMode, this, _1));                  \n",
-      "/universe/autoware.universe/vehicle/external_cmd_converter/src/node.cpp                                                  create_subscription         39   sub_emergency_stop_heartbeat_ = <b>create_subscription</b>&lt;tier4_external_api_msgs::msg::Heartbeat&gt;(            \n",
-      "/universe/autoware.universe/vehicle/external_cmd_converter/src/node.cpp                                                  bind                        41     std::<b>bind</b>(&amp;ExternalCmdConverterNode::onEmergencyStopHeartbeat, this, _1));                               \n",
-      "/universe/autoware.universe/perception/lidar_centerpoint/src/node.cpp                                                    create_subscription         86   pointcloud_sub_ = this-&gt;<b>create_subscription</b>&lt;sensor_msgs::msg::PointCloud2&gt;(                           \n",
-      "/universe/autoware.universe/perception/lidar_centerpoint/src/node.cpp                                                    bind                        88     std::<b>bind</b>(&amp;LidarCenterPointNode::pointCloudCallback, this, std::placeholders::_1));                      \n",
-      "/universe/autoware.universe/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp                             create_subscription        164   sub_gate_mode_ = raw_node_-&gt;<b>create_subscription</b>&lt;GateMode&gt;(                                            \n",
-      "/universe/autoware.universe/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp                             bind                       165     \"/control/current_gate_mode\", 10, std::<b>bind</b>(&amp;ManualController::onGateMode, this, _1));                   \n",
-      "/universe/autoware.universe/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp                             create_subscription        167   sub_velocity_ = raw_node_-&gt;<b>create_subscription</b>&lt;VelocityReport&gt;(                                       \n",
-      "/universe/autoware.universe/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp                             bind                       168     \"/vehicle/status/velocity_status\", 1, std::<b>bind</b>(&amp;ManualController::onVelocity, this, _1));               \n",
-      "/universe/autoware.universe/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp                             create_subscription        170   sub_engage_ = raw_node_-&gt;<b>create_subscription</b>&lt;Engage&gt;(                                                 \n",
-      "/universe/autoware.universe/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp                             bind                       171     \"/api/autoware/get/engage\", 10, std::<b>bind</b>(&amp;ManualController::onEngageStatus, this, _1));                 \n",
-      "/universe/autoware.universe/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp                             create_subscription        173   sub_gear_ = raw_node_-&gt;<b>create_subscription</b>&lt;GearReport&gt;(                                               \n",
-      "/universe/autoware.universe/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp                             bind                       174     \"/vehicle/status/gear_status\", 10, std::<b>bind</b>(&amp;ManualController::onGear, this, _1));                      \n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp                      create_subscription         80     this-&gt;<b>create_subscription</b>&lt;LateralCommand&gt;(                                                          \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp#create_subscription@80\n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp                      create_subscription        110     this-&gt;<b>create_subscription</b>&lt;LateralCommand&gt;(                                                          \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp#create_subscription@110\n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp                      create_subscription        162     this-&gt;<b>create_subscription</b>&lt;LateralCommand&gt;(                                                          \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp#create_subscription@162\n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp                      create_subscription        234     this-&gt;<b>create_subscription</b>&lt;LateralCommand&gt;(                                                          \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp#create_subscription@234\n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp                      create_subscription        306     this-&gt;<b>create_subscription</b>&lt;LateralCommand&gt;(                                                          \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp#create_subscription@306\n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp                      create_subscription        378     this-&gt;<b>create_subscription</b>&lt;LateralCommand&gt;(                                                          \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp#create_subscription@378\n",
-      "/universe/autoware.universe/perception/elevation_map_loader/src/elevation_map_loader_node.cpp                            create_subscription         84   sub_map_hash_ = <b>create_subscription</b>&lt;tier4_external_api_msgs::msg::MapHash&gt;(                              \n",
-      "/universe/autoware.universe/perception/elevation_map_loader/src/elevation_map_loader_node.cpp                            bind                        86     std::<b>bind</b>(&amp;ElevationMapLoaderNode::onMapHash, this, _1));                                                \n",
-      "/universe/autoware.universe/perception/elevation_map_loader/src/elevation_map_loader_node.cpp                            create_subscription         87   sub_pointcloud_map_ = this-&gt;<b>create_subscription</b>&lt;sensor_msgs::msg::PointCloud2&gt;(                       \n",
-      "/universe/autoware.universe/perception/elevation_map_loader/src/elevation_map_loader_node.cpp                            bind                        89     std::<b>bind</b>(&amp;ElevationMapLoaderNode::onPointcloudMap, this, _1));                                          \n",
-      "/universe/autoware.universe/perception/elevation_map_loader/src/elevation_map_loader_node.cpp                            create_subscription         90   sub_vector_map_ = this-&gt;<b>create_subscription</b>&lt;autoware_auto_mapping_msgs::msg::HADMapBin&gt;(              \n",
-      "/universe/autoware.universe/perception/elevation_map_loader/src/elevation_map_loader_node.cpp                            bind                        91     \"input/vector_map\", durable_qos, std::<b>bind</b>(&amp;ElevationMapLoaderNode::onVectorMap, this, _1));             \n",
-      "/universe/autoware.universe/perception/euclidean_cluster/src/euclidean_cluster_node.cpp                                  create_subscription         33   pointcloud_sub_ = this-&gt;<b>create_subscription</b>&lt;sensor_msgs::msg::PointCloud2&gt;(                           \n",
-      "/universe/autoware.universe/perception/euclidean_cluster/src/euclidean_cluster_node.cpp                                  bind                        35     std::<b>bind</b>(&amp;EuclideanClusterNode::onPointCloud, this, _1));                                               \n",
-      "/universe/autoware.universe/planning/planning_error_monitor/src/invalid_trajectory_publisher.cpp                         create_subscription         29   traj_sub_ = <b>create_subscription</b>&lt;Trajectory&gt;(                                                             \n",
-      "/universe/autoware.universe/planning/planning_error_monitor/src/invalid_trajectory_publisher.cpp                         bind                        31     std::<b>bind</b>(&amp;InvalidTrajectoryPublisherNode::onCurrentTrajectory, this, _1));                              \n",
-      "/universe/autoware.universe/perception/multi_object_tracker/src/multi_object_tracker_core.cpp                            create_subscription        167   detected_object_sub_ = <b>create_subscription</b>&lt;autoware_auto_perception_msgs::msg::DetectedObjects&gt;(         \n",
-      "/universe/autoware.universe/perception/multi_object_tracker/src/multi_object_tracker_core.cpp                            bind                       169     std::<b>bind</b>(&amp;MultiObjectTracker::onMeasurement, this, std::placeholders::_1));                             \n",
-      "/universe/autoware.universe/planning/mission_planner/src/goal_pose_visualizer/goal_pose_visualizer.cpp                   create_subscription         21   sub_route_ = <b>create_subscription</b>&lt;autoware_auto_planning_msgs::msg::HADMapRoute&gt;(                         \n",
-      "/universe/autoware.universe/planning/mission_planner/src/goal_pose_visualizer/goal_pose_visualizer.cpp                   bind                        23     std::<b>bind</b>(&amp;GoalPoseVisualizer::echoBackRouteCallback, this, std::placeholders::_1));                     \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/route.cpp                                   create_subscription         42   sub_get_route_ = <b>create_subscription</b>&lt;tier4_external_api_msgs::msg::Route&gt;(                               \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/route.cpp                                   bind                        44     std::<b>bind</b>(&amp;Route::onRoute, this, _1));                                                                   \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/route.cpp                                   create_subscription         45   sub_autoware_state_ = <b>create_subscription</b>&lt;autoware_auto_system_msgs::msg::AutowareState&gt;(                \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/route.cpp                                   bind                        46     \"/autoware/state\", rclcpp::QoS(1), std::<b>bind</b>(&amp;Route::onAutowareState, this, _1));                        \n",
-      "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_dynamic_parameter_changer/pacmod_dynamic_parameter_changer_node.cpp create_subscription         47   steer_rpt_sub_ = <b>create_subscription</b>&lt;pacmod3_msgs::msg::SystemRptFloat&gt;(                                 \n",
-      "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_dynamic_parameter_changer/pacmod_dynamic_parameter_changer_node.cpp bind                        49     std::<b>bind</b>(&amp;PacmodDynamicParameterChangerNode::subSteerRpt, this, _1));                                   \n",
-      "/universe/autoware.universe/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp                  create_subscription         49     current_odom_sub_ = <b>create_subscription</b>&lt;Odometry&gt;(                                                     \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp#create_subscription@49\n",
-      "/universe/autoware.universe/system/system_monitor/test/src/hdd_monitor/test_hdd_monitor.cpp                              create_subscription        131     sub_ = monitor_-&gt;<b>create_subscription</b>&lt;diagnostic_msgs::msg::DiagnosticArray&gt;(                        \n",
-      "/universe/autoware.universe/system/system_monitor/test/src/hdd_monitor/test_hdd_monitor.cpp                              bind                       132       \"/diagnostics\", 1000, std::<b>bind</b>(&amp;TestHDDMonitor::diagCallback, monitor_.get(), _1));                   \n",
-      "/universe/autoware.universe/perception/detection_by_tracker/src/detection_by_tracker_core.cpp                            create_subscription        204   trackers_sub_ = <b>create_subscription</b>&lt;autoware_auto_perception_msgs::msg::TrackedObjects&gt;(                 \n",
-      "/universe/autoware.universe/perception/detection_by_tracker/src/detection_by_tracker_core.cpp                            bind                       206     std::<b>bind</b>(&amp;TrackerHandler::onTrackedObjects, &amp;tracker_handler_, std::placeholders::_1));             \n",
-      "/universe/autoware.universe/perception/detection_by_tracker/src/detection_by_tracker_core.cpp                            create_subscription        208     <b>create_subscription</b>&lt;tier4_perception_msgs::msg::DetectedObjectsWithFeature&gt;(                           \n",
-      "/universe/autoware.universe/perception/detection_by_tracker/src/detection_by_tracker_core.cpp                            bind                       210       std::<b>bind</b>(&amp;DetectionByTracker::onObjects, this, std::placeholders::_1));                               \n",
-      "/universe/autoware.universe/planning/planning_evaluator/src/motion_evaluator_node.cpp                                    create_subscription         30   twist_sub_ = <b>create_subscription</b>&lt;nav_msgs::msg::Odometry&gt;(                                               \n",
-      "/universe/autoware.universe/planning/planning_evaluator/src/motion_evaluator_node.cpp                                    bind                        32     std::<b>bind</b>(&amp;MotionEvaluatorNode::onOdom, this, std::placeholders::_1));                                   \n",
-      "/universe/autoware.universe/common/component_interface_utils/include/component_interface_utils/rclcpp/create_interface.hpp create_subscription         72   auto subscription = node-&gt;template <b>create_subscription</b>&lt;typename SpecT::Message&gt;(                      \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/common/component_interface_utils/include/component_interface_utils/rclcpp/create_interface.hpp#create_subscription@72\n",
-      "/universe/autoware.universe/planning/mission_planner/lib/mission_planner_base.cpp                                        create_subscription         41   goal_subscriber_ = <b>create_subscription</b>&lt;geometry_msgs::msg::PoseStamped&gt;(                                 \n",
-      "/universe/autoware.universe/planning/mission_planner/lib/mission_planner_base.cpp                                        bind                        42     \"input/goal_pose\", 10, std::<b>bind</b>(&amp;MissionPlanner::goalPoseCallback, this, _1));                          \n",
-      "/universe/autoware.universe/planning/mission_planner/lib/mission_planner_base.cpp                                        create_subscription         43   checkpoint_subscriber_ = <b>create_subscription</b>&lt;geometry_msgs::msg::PoseStamped&gt;(                           \n",
-      "/universe/autoware.universe/planning/mission_planner/lib/mission_planner_base.cpp                                        bind                        44     \"input/checkpoint\", 10, std::<b>bind</b>(&amp;MissionPlanner::checkpointCallback, this, _1));                       \n",
-      "/universe/autoware.universe/perception/image_projection_based_fusion/src/fusion_node.cpp                                 create_subscription         61     camera_info_subs_.at(roi_i) = this-&gt;<b>create_subscription</b>&lt;sensor_msgs::msg::CameraInfo&gt;(              \n",
-      "/universe/autoware.universe/perception/image_projection_based_fusion/src/fusion_node.cpp                                 bind                        74     std::<b>bind</b>(&amp;FusionNode::dummyCallback, this, std::placeholders::_1));                                     \n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/src/latlon_muxer_node.cpp                                  create_subscription         34     <b>create_subscription</b>&lt;autoware_auto_control_msgs::msg::AckermannLateralCommand&gt;(                         \n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/src/latlon_muxer_node.cpp                                  bind                        36       std::<b>bind</b>(&amp;LatLonMuxer::latCtrlCmdCallback, this, std::placeholders::_1));                             \n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/src/latlon_muxer_node.cpp                                  create_subscription         37   m_lon_control_cmd_sub = <b>create_subscription</b>&lt;autoware_auto_control_msgs::msg::LongitudinalCommand&gt;(       \n",
-      "/universe/autoware.universe/control/trajectory_follower_nodes/src/latlon_muxer_node.cpp                                  bind                        39     std::<b>bind</b>(&amp;LatLonMuxer::lonCtrlCmdCallback, this, std::placeholders::_1));                               \n",
-      "/universe/autoware.universe/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp                                  create_subscription        129   sub_gate_mode_ = raw_node_-&gt;<b>create_subscription</b>&lt;tier4_control_msgs::msg::GateMode&gt;(                   \n",
-      "/universe/autoware.universe/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp                                  bind                       130     \"/control/current_gate_mode\", 10, std::<b>bind</b>(&amp;AutowareStatePanel::onGateMode, this, _1));                 \n",
-      "/universe/autoware.universe/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp                                  create_subscription        133     raw_node_-&gt;<b>create_subscription</b>&lt;tier4_control_msgs::msg::ExternalCommandSelectorMode&gt;(               \n",
-      "/universe/autoware.universe/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp                                  bind                       135       std::<b>bind</b>(&amp;AutowareStatePanel::onSelectorMode, this, _1));                                             \n",
-      "/universe/autoware.universe/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp                                  create_subscription        138     raw_node_-&gt;<b>create_subscription</b>&lt;autoware_auto_system_msgs::msg::AutowareState&gt;(                      \n",
-      "/universe/autoware.universe/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp                                  bind                       139       \"/autoware/state\", 10, std::<b>bind</b>(&amp;AutowareStatePanel::onAutowareState, this, _1));                     \n",
-      "/universe/autoware.universe/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp                                  create_subscription        141   sub_gear_ = raw_node_-&gt;<b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::GearReport&gt;(              \n",
-      "/universe/autoware.universe/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp                                  bind                       142     \"/vehicle/status/gear_status\", 10, std::<b>bind</b>(&amp;AutowareStatePanel::onShift, this, _1));                   \n",
-      "/universe/autoware.universe/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp                                  create_subscription        144   sub_engage_ = raw_node_-&gt;<b>create_subscription</b>&lt;tier4_external_api_msgs::msg::EngageStatus&gt;(             \n",
-      "/universe/autoware.universe/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp                                  bind                       145     \"/api/external/get/engage\", 10, std::<b>bind</b>(&amp;AutowareStatePanel::onEngageStatus, this, _1));               \n",
-      "/universe/autoware.universe/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp                                  create_subscription        147   sub_emergency_ = raw_node_-&gt;<b>create_subscription</b>&lt;tier4_external_api_msgs::msg::Emergency&gt;(             \n",
-      "/universe/autoware.universe/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp                                  bind                       148     \"/api/autoware/get/emergency\", 10, std::<b>bind</b>(&amp;AutowareStatePanel::onEmergencyStatus, this, _1));         \n",
-      "/universe/autoware.universe/perception/heatmap_visualizer/src/heatmap_visualizer_node.cpp                                create_subscription         39   objects_sub_ = <b>create_subscription</b>&lt;autoware_auto_perception_msgs::msg::DetectedObjects&gt;(                 \n",
-      "/universe/autoware.universe/perception/heatmap_visualizer/src/heatmap_visualizer_node.cpp                                bind                        41     std::<b>bind</b>(&amp;HeatmapVisualizerNode::detectedObjectsCallback, this, std::placeholders::_1));                \n",
-      "/universe/autoware.universe/common/path_distance_calculator/src/path_distance_calculator.cpp                             create_subscription         27   sub_path_ = <b>create_subscription</b>&lt;autoware_auto_planning_msgs::msg::Path&gt;(                                 \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/common/path_distance_calculator/src/path_distance_calculator.cpp#create_subscription@27\n",
-      "/universe/autoware.universe/perception/image_projection_based_fusion/src/debugger.cpp                                    create_subscription         43     auto sub = image_transport::<b>create_subscription</b>(                                                             \n",
-      "/universe/autoware.universe/perception/image_projection_based_fusion/src/debugger.cpp                                    bind                        45       std::<b>bind</b>(&amp;Debugger::imageCallback, this, std::placeholders::_1, img_i), \"raw\",                        \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/operator.cpp                                create_subscription         41   sub_get_operator_ = <b>create_subscription</b>&lt;tier4_external_api_msgs::msg::Operator&gt;(                         \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/operator.cpp                                bind                        42     \"/api/autoware/get/operator\", rclcpp::QoS(1), std::<b>bind</b>(&amp;Operator::onOperator, this, _1));               \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/operator.cpp                                create_subscription         43   sub_get_observer_ = <b>create_subscription</b>&lt;tier4_external_api_msgs::msg::Observer&gt;(                         \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/operator.cpp                                bind                        44     \"/api/autoware/get/observer\", rclcpp::QoS(1), std::<b>bind</b>(&amp;Operator::onObserver, this, _1));               \n",
-      "/universe/autoware.universe/perception/lidar_apollo_instance_segmentation/src/node.cpp                                   create_subscription         37   pointcloud_sub_ = this-&gt;<b>create_subscription</b>&lt;sensor_msgs::msg::PointCloud2&gt;(                           \n",
-      "/universe/autoware.universe/perception/lidar_apollo_instance_segmentation/src/node.cpp                                   bind                        39     std::<b>bind</b>(&amp;LidarInstanceSegmentationNode::pointCloudCallback, this, _1));                                \n",
-      "/universe/autoware.universe/common/tier4_autoware_utils/src/vehicle/vehicle_state_checker.cpp                            create_subscription         27   sub_odom_ = node-&gt;<b>create_subscription</b>&lt;Odometry&gt;(                                                      \n",
-      "/universe/autoware.universe/common/tier4_autoware_utils/src/vehicle/vehicle_state_checker.cpp                            bind                        29     std::<b>bind</b>(&amp;VehicleStopChecker::onOdom, this, _1));                                                       \n",
-      "/universe/autoware.universe/common/tier4_autoware_utils/src/vehicle/vehicle_state_checker.cpp                            create_subscription         90   sub_trajectory_ = node-&gt;<b>create_subscription</b>&lt;Trajectory&gt;(                                              \n",
-      "/universe/autoware.universe/common/tier4_autoware_utils/src/vehicle/vehicle_state_checker.cpp                            bind                        92     std::<b>bind</b>(&amp;VehicleArrivalChecker::onTrajectory, this, _1));                                              \n",
-      "/universe/external/grid_map/grid_map_visualization/src/GridMapVisualization.cpp                                          create_subscription        148     mapSubscriber_ = nodePtr-&gt;<b>create_subscription</b>&lt;grid_map_msgs::msg::GridMap&gt;(                         \n",
-      "/universe/external/grid_map/grid_map_visualization/src/GridMapVisualization.cpp                                          bind                       150       std::<b>bind</b>(&amp;GridMapVisualization::callback, this, std::placeholders::_1));                              \n",
-      "/universe/autoware.universe/localization/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp                   create_subscription         25   vehicle_report_sub_ = <b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::VelocityReport&gt;(              \n",
-      "/universe/autoware.universe/localization/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp                   bind                        27     std::<b>bind</b>(&amp;VehicleVelocityConverter::callbackVelocityReport, this, std::placeholders::_1));              \n",
-      "/universe/autoware.universe/system/dummy_infrastructure/src/dummy_infrastructure_node/dummy_infrastructure_node.cpp      create_subscription         82   sub_command_array_ = <b>create_subscription</b>&lt;InfrastructureCommandArray&gt;(                                    \n",
-      "/universe/autoware.universe/system/dummy_infrastructure/src/dummy_infrastructure_node/dummy_infrastructure_node.cpp      bind                        84     std::<b>bind</b>(&amp;DummyInfrastructureNode::onCommandArray, this, _1));                                          \n",
-      "/universe/autoware.universe/sensing/gnss_poser/src/gnss_poser_core.cpp                                                   create_subscription         45   nav_sat_fix_sub_ = <b>create_subscription</b>&lt;sensor_msgs::msg::NavSatFix&gt;(                                     \n",
-      "/universe/autoware.universe/sensing/gnss_poser/src/gnss_poser_core.cpp                                                   bind                        46     \"fix\", rclcpp::QoS{1}, std::<b>bind</b>(&amp;GNSSPoser::callbackNavSatFix, this, std::placeholders::_1));           \n",
-      "/universe/autoware.universe/sensing/gnss_poser/src/gnss_poser_core.cpp                                                   create_subscription         47   nav_pvt_sub_ = <b>create_subscription</b>&lt;ublox_msgs::msg::NavPVT&gt;(                                             \n",
-      "/universe/autoware.universe/sensing/gnss_poser/src/gnss_poser_core.cpp                                                   bind                        48     \"navpvt\", rclcpp::QoS{1}, std::<b>bind</b>(&amp;GNSSPoser::callbackNavPVT, this, std::placeholders::_1));           \n",
-      "/universe/autoware.universe/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp         create_subscription         71   update_suggest_sub_ = raw_node-&gt;<b>create_subscription</b>&lt;std_msgs::msg::Bool&gt;(                             \n",
-      "/universe/autoware.universe/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp         bind                        73     std::<b>bind</b>(                                                                                                   \n",
-      "/universe/autoware.universe/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp         create_subscription        103   update_suggest_sub_ = raw_node-&gt;<b>create_subscription</b>&lt;std_msgs::msg::Bool&gt;(                             \n",
-      "/universe/autoware.universe/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp         bind                       105     std::<b>bind</b>(                                                                                                   \n",
-      "/universe/autoware.universe/perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp        create_subscription         33   sub_map_ = this-&gt;<b>create_subscription</b>&lt;PointCloud2&gt;(                                                    \n",
-      "/universe/autoware.universe/perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp        bind                        35     std::<b>bind</b>(&amp;DistanceBasedCompareMapFilterComponent::input_target_callback, this, _1));                    \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/fail_safe_state.cpp                         create_subscription         26   sub_state_ = <b>create_subscription</b>&lt;autoware_auto_system_msgs::msg::EmergencyState&gt;(                        \n",
-      "[WARN] Could not find matching bind statement for /universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/fail_safe_state.cpp#create_subscription@26\n",
-      "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_diag_publisher.cpp                       create_subscription         38   can_sub_ = <b>create_subscription</b>&lt;can_msgs::msg::Frame&gt;(                                                    \n",
-      "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_diag_publisher.cpp                       bind                        39     \"/pacmod/can_tx\", 1, std::<b>bind</b>(&amp;PacmodDiagPublisher::callbackCan, this, std::placeholders::_1));         \n",
-      "/universe/autoware.universe/perception/shape_estimation/src/node.cpp                                                     create_subscription         39   sub_ = <b>create_subscription</b>&lt;DetectedObjectsWithFeature&gt;(                                                  \n",
-      "/universe/autoware.universe/perception/shape_estimation/src/node.cpp                                                     bind                        40     \"input\", rclcpp::QoS{1}, std::<b>bind</b>(&amp;ShapeEstimationNode::callback, this, _1));                           \n",
-      "/universe/autoware.universe/localization/pose_initializer/src/pose_initializer_core.cpp                                  create_subscription         71   initial_pose_sub_ = this-&gt;<b>create_subscription</b>&lt;geometry_msgs::msg::PoseWithCovarianceStamped&gt;(         \n",
-      "/universe/autoware.universe/localization/pose_initializer/src/pose_initializer_core.cpp                                  bind                        73     std::<b>bind</b>(&amp;PoseInitializer::callbackInitialPose, this, std::placeholders::_1));                          \n",
-      "/universe/autoware.universe/localization/pose_initializer/src/pose_initializer_core.cpp                                  create_subscription         74   map_points_sub_ = this-&gt;<b>create_subscription</b>&lt;sensor_msgs::msg::PointCloud2&gt;(                           \n",
-      "/universe/autoware.universe/localization/pose_initializer/src/pose_initializer_core.cpp                                  bind                        76     std::<b>bind</b>(&amp;PoseInitializer::callbackMapPoints, this, std::placeholders::_1));                            \n",
-      "/universe/autoware.universe/localization/pose_initializer/src/pose_initializer_core.cpp                                  create_subscription         77   gnss_pose_sub_ = this-&gt;<b>create_subscription</b>&lt;geometry_msgs::msg::PoseWithCovarianceStamped&gt;(            \n",
-      "/universe/autoware.universe/localization/pose_initializer/src/pose_initializer_core.cpp                                  bind                        79     std::<b>bind</b>(&amp;PoseInitializer::callbackGNSSPoseCov, this, std::placeholders::_1));                          \n",
-      "/universe/autoware.universe/localization/pose_initializer/src/pose_initializer_core.cpp                                  create_subscription         81     this-&gt;<b>create_subscription</b>&lt;tier4_localization_msgs::msg::PoseInitializationRequest&gt;(                 \n",
-      "/universe/autoware.universe/localization/pose_initializer/src/pose_initializer_core.cpp                                  bind                        83       std::<b>bind</b>(&amp;PoseInitializer::callbackPoseInitializationRequest, this, std::placeholders::_1));          \n",
-      "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp                               create_subscription         60   sub_steer_ = this-&gt;<b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::SteeringReport&gt;(              \n",
-      "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp                               bind                        61     \"input/steer\", 1, std::<b>bind</b>(&amp;AutowareIvAdapter::callbackSteer, this, _1));                               \n",
-      "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp                               create_subscription         63     this-&gt;<b>create_subscription</b>&lt;autoware_auto_control_msgs::msg::AckermannControlCommand&gt;(                \n",
-      "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp                               bind                        65       std::<b>bind</b>(&amp;AutowareIvAdapter::callbackVehicleCmd, this, _1));                                          \n",
-      "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp                               create_subscription         67     this-&gt;<b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport&gt;(                   \n",
-      "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp                               bind                        68       \"input/turn_indicators\", 1, std::<b>bind</b>(&amp;AutowareIvAdapter::callbackTurnIndicators, this, _1));          \n",
-      "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp                               create_subscription         70     this-&gt;<b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::HazardLightsReport&gt;(                     \n",
-      "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp                               bind                        71       \"input/hazard_lights\", 1, std::<b>bind</b>(&amp;AutowareIvAdapter::callbackHazardLights, this, _1));              \n",
-      "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp                               create_subscription         72   sub_odometry_ = this-&gt;<b>create_subscription</b>&lt;nav_msgs::msg::Odometry&gt;(                                   \n",
-      "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp                               bind                        73     \"input/odometry\", 1, std::<b>bind</b>(&amp;AutowareIvAdapter::callbackTwist, this, _1));                            \n",
-      "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp                               create_subscription         74   sub_gear_ = this-&gt;<b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::GearReport&gt;(                   \n",
-      "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp                               bind                        75     \"input/gear\", 1, std::<b>bind</b>(&amp;AutowareIvAdapter::callbackGear, this, _1));                                 \n",
-      "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp                               create_subscription         76   sub_battery_ = this-&gt;<b>create_subscription</b>&lt;tier4_vehicle_msgs::msg::BatteryStatus&gt;(                     \n",
-      "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp                               bind                        77     \"input/battery\", 1, std::<b>bind</b>(&amp;AutowareIvAdapter::callbackBattery, this, _1));                           \n",
-      "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp                               create_subscription         78   sub_nav_sat_ = this-&gt;<b>create_subscription</b>&lt;sensor_msgs::msg::NavSatFix&gt;(                                \n",
-      "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp                               bind                        79     \"input/nav_sat\", 1, std::<b>bind</b>(&amp;AutowareIvAdapter::callbackNavSat, this, _1));                            \n",
-      "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp                               create_subscription         80   sub_autoware_state_ = this-&gt;<b>create_subscription</b>&lt;tier4_system_msgs::msg::AutowareState&gt;(               \n",
-      "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp                               bind                        81     \"input/autoware_state\", 1, std::<b>bind</b>(&amp;AutowareIvAdapter::callbackAutowareState, this, _1));              \n",
-      "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp                               create_subscription         82   sub_control_mode_ = this-&gt;<b>create_subscription</b>&lt;autoware_auto_vehicle_msg                                  \n",
-      "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp                               bind                        83     \"input/control_mode\", 1, std::<b>bind</b>(&amp;AutowareIvAdapter::callbackControlMode, this, _1));                  \n",
-      "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_additional_debug_publisher/pacmod_additional_debug_publisher_node.cpp create_subscription         32   sub_ = <b>create_subscription</b>&lt;can_msgs::msg::Frame&gt;(                                                        \n",
-      "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_additional_debug_publisher/pacmod_additional_debug_publisher_node.cpp bind                        34     std::<b>bind</b>(&amp;PacmodAdditionalDebugPublisherNode::canTxCallback, this, _1));                                \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp                          create_subscription         28   blind_spot_sub_ = <b>create_subscription</b>&lt;CooperateStatusArray&gt;(                                             \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp                          bind                        30     rclcpp::QoS(1), std::<b>bind</b>(&amp;RTCController::blindSpotCallback, this, _1));                                 \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp                          create_subscription         31   crosswalk_sub_ = <b>create_subscription</b>&lt;CooperateStatusArray&gt;(                                              \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp                          bind                        33     rclcpp::QoS(1), std::<b>bind</b>(&amp;RTCController::crosswalkCallback, this, _1));                                 \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp                          create_subscription         34   detection_area_sub_ = <b>create_subscription</b>&lt;CooperateStatusArray&gt;(                                         \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp                          bind                        36     rclcpp::QoS(1), std::<b>bind</b>(&amp;RTCController::detectionAreaCallback, this, _1));                             \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp                          create_subscription         37   intersection_sub_ = <b>create_subscription</b>&lt;CooperateStatusArray&gt;(                                           \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp                          bind                        39     rclcpp::QoS(1), std::<b>bind</b>(&amp;RTCController::intersectionCallback, this, _1));                              \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp                          create_subscription         40   no_stopping_area_sub_ = <b>create_subscription</b>&lt;CooperateStatusArray&gt;(                                       \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp                          bind                        42     rclcpp::QoS(1), std::<b>bind</b>(&amp;RTCController::noStoppingAreaCallback, this, _1));                            \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp                          create_subscription         43   occlusion_spot_sub_ = <b>create_subscription</b>&lt;CooperateStatusArray&gt;(                                         \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp                          bind                        45     rclcpp::QoS(1), std::<b>bind</b>(&amp;RTCController::occlusionSpotCallback, this, _1));                             \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp                          create_subscription         46   traffic_light_sub_ = <b>create_subscription</b>&lt;CooperateStatusArray&gt;(                                          \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp                          bind                        48     rclcpp::QoS(1), std::<b>bind</b>(&amp;RTCController::trafficLightCallback, this, _1));                              \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp                          create_subscription         49   virtual_traffic_light_sub_ = <b>create_subscription</b>&lt;CooperateStatusArray&gt;(                                  \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp                          bind                        52     rclcpp::QoS(1), std::<b>bind</b>(&amp;RTCController::virtualTrafficLightCallback, this, _1));                       \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp                          create_subscription         53   lane_change_left_sub_ = <b>create_subscription</b>&lt;CooperateStatusArray&gt;(                                       \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp                          bind                        55     rclcpp::QoS(1), std::<b>bind</b>(&amp;RTCController::laneChangeLeftCallback, this, _1));                            \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp                          create_subscription         56   lane_change_right_sub_ = <b>create_subscription</b>&lt;CooperateStatusArra                                            \n",
-      "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp                          bind                        58     rclcpp::QoS(1), std::<b>bind</b>(&amp;RTCController::laneChangeRightCallback, this, _1));                           \n",
-      "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py                        create_subscription         73         self.sub0 = self.<b>create_subscription</b>(                                                                    \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py#create_subscription@73\n",
-      "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py                        create_subscription         79         self.sub1 = self.<b>create_subscription</b>(                                                                    \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py#create_subscription@79\n",
-      "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py                        create_subscription         82         self.sub2 = self.<b>create_subscription</b>(                                                                    \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py#create_subscription@82\n",
-      "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py                        create_subscription         88         self.sub3 = self.<b>create_subscription</b>(                                                                    \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py#create_subscription@88\n",
-      "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py                        create_subscription         91         self.sub4 = self.<b>create_subscription</b>(                                                                    \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py#create_subscription@91\n",
-      "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py                        create_subscription         99         self.sub5 = self.<b>create_subscription</b>(                                                                    \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py#create_subscription@99\n",
-      "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py                        create_subscription        104         self.sub6 = self.<b>create_subscription</b>(                                                                    \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py#create_subscription@104\n",
-      "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py                        create_subscription        110         self.sub7 = self.<b>create_subscription</b>(                                                                    \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py#create_subscription@110\n",
-      "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py                        create_subscription        115         self.sub8 = self.<b>create_subscription</b>(                                                                    \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py#create_subscription@115\n",
-      "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py                        create_subscription        118         self.sub12 = self.<b>create_subscription</b>(                                                                   \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py#create_subscription@118\n",
-      "/universe/autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp                                        create_subscription         33   vehicle_twist_with_cov_sub_ = <b>create_subscription</b>&lt;geometry_msgs::msg::TwistWithCovarianceStamped&gt;(       \n",
-      "/universe/autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp                                        bind                        35     std::<b>bind</b>(&amp;GyroOdometer::callbackTwistWithCovariance, this, std::placeholders::_1));                     \n",
-      "/universe/autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp                                        create_subscription         37   imu_sub_ = <b>create_subscription</b>&lt;sensor_msgs::msg::Imu&gt;(                                                   \n",
-      "/universe/autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp                                        bind                        38     \"imu\", rclcpp::QoS{100}, std::<b>bind</b>(&amp;GyroOdometer::callbackImu, this, std::placeholders::_1));            \n",
-      "/universe/autoware.universe/perception/tensorrt_yolo/src/nodelet.cpp                                                     create_subscription        124     image_sub_ = image_transport::<b>create_subscription</b>(                                                           \n",
-      "/universe/autoware.universe/perception/tensorrt_yolo/src/nodelet.cpp                                                     bind                       125       this, \"in/image\", std::<b>bind</b>(&amp;TensorrtYoloNodelet::callback, this, _1), \"raw\",                          \n",
-      "/universe/autoware.universe/localization/ekf_localizer/test/src/test_ekf_localizer.cpp                                   create_subscription         45     sub_twist = this-&gt;<b>create_subscription</b>&lt;geometry_msgs::msg::TwistStamped&gt;(                            \n",
-      "/universe/autoware.universe/localization/ekf_localizer/test/src/test_ekf_localizer.cpp                                   bind                        46       \"/ekf_twist\", 1, std::<b>bind</b>(&amp;TestEKFLocalizerNode::testCallbackTwist, this, _1));                       \n",
-      "/universe/autoware.universe/localization/ekf_localizer/test/src/test_ekf_localizer.cpp                                   create_subscription         47     sub_pose = this-&gt;<b>create_subscription</b>&lt;geometry_msgs::msg::PoseStamped&gt;(                              \n",
-      "/universe/autoware.universe/localization/ekf_localizer/test/src/test_ekf_localizer.cpp                                   bind                        48       \"/ekf_pose\", 1, std::<b>bind</b>(&amp;TestEKFLocalizerNode::testCallbackPose, this, _1));                         \n",
-      "/universe/autoware.universe/common/tier4_planning_rviz_plugin/src/drivable_area/display.cpp                              create_subscription        234         -&gt;template <b>create_subscription</b>&lt;map_msgs::msg::OccupancyGridUpdate&gt;(                             \n",
-      "[WARN] Could not find matching bind statement for /universe/autoware.universe/common/tier4_planning_rviz_plugin/src/drivable_area/display.cpp#create_subscription@234\n",
-      "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_data_nodelet.cpp            create_subscription        158       filters_[d] = this-&gt;<b>create_subscription</b>&lt;sensor_msgs::msg::PointCloud2&gt;(                           \n",
-      "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_data_nodelet.cpp            bind                       161     auto twist_cb = std::<b>bind</b>(                                                                                   \n",
-      "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_data_nodelet.cpp            create_subscription        163     sub_twist_ = this-&gt;<b>create_subscription</b>&lt;autoware_auto_vehicle_msgs::msg::VelocityReport&gt;(            \n",
-      "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_data_nodelet.cpp            bind                       173       std::<b>bind</b>(&amp;PointCloudConcatenateDataSynchronizerComponent::timer_callback, this));                     \n"
-     ]
-    }
-   ],
-   "source": [
-    "def sym(path, symbol):\n",
-    "    r = requests.get(jj(API_URL, f\"search?path={quote(path)}&symbol={quote(symbol)}\"))\n",
-    "    r.raise_for_status()\n",
-    "    results = r.json()['results']\n",
-    "    records = []\n",
-    "    for path, matches in results.items():\n",
-    "        for match in matches:\n",
-    "            records.append((path, symbol, int(match['lineNumber']) - 1, match['line']))\n",
-    "    \n",
-    "    df = pd.DataFrame(records, columns=[\"path\", \"symbol\", \"line_num\", \"line\"])\n",
-    "    return df\n",
-    "\n",
-    "\n",
-    "def list_subscriptions(path):\n",
-    "    #\"results\": {\n",
-    "    #\"/universe/autoware.universe/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp\": [\n",
-    "    #  {\n",
-    "    #    \"line\": \"  rclcpp::Subscription&lt;Odometry&gt;::SharedPtr <b>velocity_subscriber_</b>;\",\n",
-    "    #    \"lineNumber\": \"90\"\n",
-    "    #  }\n",
-    "    #],\n",
-    "    syms_sub = sym(path, \"create_subscription\")\n",
-    "    for path, symb, line_num, line in syms_sub.itertuples(index=False, name=None):\n",
-    "        syms_bind = sym(path, \"bind\")\n",
-    "        print(f\"{path:120s} {symb:25s} {line_num:4d} {line:120s}\")\n",
-    "        closest_bind = syms_bind[syms_bind[\"line_num\"]>=line_num][:1]\n",
-    "        if len(closest_bind) == 0:\n",
-    "            print(f\"[WARN] Could not find matching bind statement for {path}#{symb}@{line_num}\")\n",
-    "        for cpath, csymb, cline_num, cline in closest_bind.itertuples(index=False, name=None):\n",
-    "            print(f\"{cpath:120s} {csymb:25s} {cline_num:4d} {cline:120s}\")\n",
-    "\n",
-    "\n",
-    "\n",
-    "list_subscriptions(\"\")"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": []
-  }
- ],
- "metadata": {
-  "interpreter": {
-   "hash": "e7370f93d1d0cde622a1f8e1c04877d8463912d04d973331ad4851f04de6915a"
-  },
-  "kernelspec": {
-   "display_name": "Python 3.8.10 64-bit",
-   "language": "python",
-   "name": "python3"
-  },
-  "language_info": {
-   "codemirror_mode": {
-    "name": "ipython",
-    "version": 3
-   },
-   "file_extension": ".py",
-   "mimetype": "text/x-python",
-   "name": "python",
-   "nbconvert_exporter": "python",
-   "pygments_lexer": "ipython3",
-   "version": "3.8.10"
-  },
-  "orig_nbformat": 4
- },
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- "nbformat_minor": 2
-}