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ci: reverting control ignorance #4662

Merged
merged 2 commits into from
Aug 21, 2023
Merged

ci: reverting control ignorance #4662

merged 2 commits into from
Aug 21, 2023

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kminoda
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@kminoda kminoda commented Aug 18, 2023 •
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Description

.svg files were sometimes causing unreasonable error e.g. in #4549 where the following part was not ignored by spell-check.

host="0i6112g2df9b6ngu9buda4iblme4t77dtbb7m4umbjihr1cp3ej8"

Since the above issue has been resolved in tier4/autoware-spell-check-dict#607, I'd like to revert the modification.

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Notes for reviewers

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Interface changes

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Effects on system behavior

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@kminoda
ci: ignore svg for spell-check, as well as reverting control
e04e89f 
Signed-off-by: kminoda <koji.minoda@tier4.jp>
@kminoda kminoda marked this pull request as ready for review August 18, 2023 05:51
@kminoda kminoda added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Aug 18, 2023
@kminoda kminoda requested a review from HansRobo August 18, 2023 05:51
@kminoda kminoda marked this pull request as draft August 21, 2023 00:14
@kminoda
remove svg
bfe2ae6 
Signed-off-by: kminoda <koji.minoda@tier4.jp>
@kminoda kminoda changed the title ci: ignore svg for spell-check, as well as reverting control ci: reverting control ignorance Aug 21, 2023
kminoda
kminoda commented Aug 21, 2023
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Confirmed that spell-check-partial passes

@kminoda kminoda marked this pull request as ready for review August 21, 2023 00:24
@kminoda kminoda merged commit 1f8ac87 into autowarefoundation:main Aug 21, 2023
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Aug 21, 2023
Merged
kminoda added a commit to kminoda/autoware.universe that referenced this pull request Aug 21, 2023
@kminoda
ci: reverting control ignorance (autowarefoundation#4662)
9273420 
* ci: ignore svg for spell-check, as well as reverting control

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* remove svg

Signed-off-by: kminoda <koji.minoda@tier4.jp>

---------

Signed-off-by: kminoda <koji.minoda@tier4.jp>
kminoda added a commit to kminoda/autoware.universe that referenced this pull request Aug 22, 2023
@kminoda
ci: reverting control ignorance (autowarefoundation#4662)
c185adf 
* ci: ignore svg for spell-check, as well as reverting control

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* remove svg

Signed-off-by: kminoda <koji.minoda@tier4.jp>

---------

Signed-off-by: kminoda <koji.minoda@tier4.jp>
@kminoda kminoda deleted the ci/ignore_svg_for_spell_check branch August 23, 2023 00:06
TomohitoAndo added a commit to tier4/autoware.universe that referenced this pull request Aug 24, 2023
@TomohitoAndo
Squashed commit of the following:
fb2aee4 
commit 9c24f8f
Author: Tomohito Ando <tomohito.ando@tier4.jp>
Date:   Mon Aug 21 12:59:59 2023 +0900

    add debug log when the signal data is outdated

    Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

commit 6448663
Author: Tomohito Ando <tomohito.ando@tier4.jp>
Date:   Mon Aug 21 11:08:35 2023 +0900

    fix the traffic signal type in perception reproducer

    Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

commit fcb7a64
Merge: 1f5cf31 1f8ac87
Author: Tomohito Ando <tomohito.ando@tier4.jp>
Date:   Mon Aug 21 10:38:56 2023 +0900

    Merge branch 'main' into support-new-traffic-signal-interface

    Resolved conflicts in perception_reproducer.py

    Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

commit 1f8ac87
Author: kminoda <44218668+kminoda@users.noreply.github.com>
Date:   Mon Aug 21 09:24:07 2023 +0900

    ci: reverting control ignorance (autowarefoundation#4662)

    * ci: ignore svg for spell-check, as well as reverting control

    Signed-off-by: kminoda <koji.minoda@tier4.jp>

    * remove svg

    Signed-off-by: kminoda <koji.minoda@tier4.jp>

    ---------

    Signed-off-by: kminoda <koji.minoda@tier4.jp>

commit d794bc0
Author: SakodaShintaro <shintaro.sakoda@tier4.jp>
Date:   Mon Aug 21 09:22:08 2023 +0900

    fix(lanelet2_map_loader): fixed parameter declaration timing (autowarefoundation#4639)

    Change parameter declaration timing

    Signed-off-by: Shintaro Sakoda <sakoda@keio.jp>

commit 338d4b0
Author: Takamasa Horibe <horibe.takamasa@gmail.com>
Date:   Sun Aug 20 23:32:03 2023 +0900

    feat(mpc): 1d interpolate in steering rate limit calculation (autowarefoundation#4666)

    * feat(mpc): 1d interpolate in steering rate limit calculation

    Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

    * update

    Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

    * fix

    Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

    * fix clamp

    Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

    * remove unused funcs

    Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

    ---------

    Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

commit f91db6b
Author: Takamasa Horibe <horibe.takamasa@gmail.com>
Date:   Sun Aug 20 19:01:43 2023 +0900

    fix(mpc): use optimization result when polish failed (autowarefoundation#4673)

    * fix(mpc): use optimization result when polish failed

    Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

    * fix arg

    Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

    ---------

    Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

commit c665d9d
Author: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Date:   Sun Aug 20 15:47:00 2023 +0900

    fix(start/goal_planner): set previous lane_ids if freespace path is out of lanes (autowarefoundation#4672)

    Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

commit 9dc104f
Author: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Date:   Sun Aug 20 10:31:41 2023 +0900

    feat(start_planner): support freespace pull out (autowarefoundation#4610)

    feat(start_planner): add freespace pull out

    Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

commit bc86f0e
Author: Takayuki Murooka <takayuki5168@gmail.com>
Date:   Sun Aug 20 01:59:26 2023 +0900

    feat(obstacle_stop_planner): consider object velocity direction (autowarefoundation#4648)

    * feat(obstacle_stop_planner): consider object velocity direction

    Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

    * update

    Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

    ---------

    Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

commit 5ed7ca3
Author: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Date:   Sat Aug 19 01:32:05 2023 +0900

    feat(goal_planner): add lane ids to freespace path (autowarefoundation#4668)

    Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

commit 93478b7
Author: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Date:   Fri Aug 18 19:04:07 2023 +0900

    fix(avoidance): fix build error (autowarefoundation#4667)

    Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

commit 04ca20c
Author: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Date:   Fri Aug 18 18:44:53 2023 +0900

    feat(behavior_path_planner): add combineLanelets (autowarefoundation#4657)

    * feat(behavior_path_planner): add combineLanelets

    Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

    * Update planning/behavior_path_planner/src/utils/utils.cpp

    ---------

    Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

commit 414a2ba
Author: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
Date:   Fri Aug 18 16:43:27 2023 +0900

    fix(behavior_path_planner): add fallback for splitting the dynamic drivable area into left and right bounds (autowarefoundation#4646)

    Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

commit ab64a5a
Author: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Date:   Fri Aug 18 15:56:49 2023 +0900

    fix(avoidance): don't extend backward path if driving lane is updated (autowarefoundation#4593)

    * fix(avoidance): don't extend backward path if driving lane is updated

    Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

    * chore(avoidance): rename variables

    Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

    ---------

    Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

commit 93b7d4d
Author: kminoda <44218668+kminoda@users.noreply.github.com>
Date:   Fri Aug 18 15:28:15 2023 +0900

    fix(map_loader, map_projection_loader): use component interface specs (autowarefoundation#4585)

    * feat(map): use component_interface_specs in map_projection_loader

    Signed-off-by: kminoda <koji.minoda@tier4.jp>

    * update map_loader

    Signed-off-by: kminoda <koji.minoda@tier4.jp>

    * style(pre-commit): autofix

    * feat: add dummy typo

    Signed-off-by: kminoda <koji.minoda@tier4.jp>

    * update name

    Signed-off-by: kminoda <koji.minoda@tier4.jp>

    * fix test

    Signed-off-by: kminoda <koji.minoda@tier4.jp>

    * fix test

    Signed-off-by: kminoda <koji.minoda@tier4.jp>

    ---------

    Signed-off-by: kminoda <koji.minoda@tier4.jp>
    Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

commit 25355b5
Author: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
Date:   Fri Aug 18 11:50:10 2023 +0900

    fix(ekf_localizer): fix True to true (autowarefoundation#4659)

commit 5551421
Author: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
Date:   Fri Aug 18 11:08:26 2023 +0900

    refactor(behavior_path_planner): separete function in utils to objects_filtering  (autowarefoundation#4658)

    * separate utils function to object_filtering

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

    * chenge call side of util functions

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

    * refactor

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

    * add explanation for parameters

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

    ---------

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

commit f398db4
Author: ito-san <57388357+ito-san@users.noreply.github.com>
Date:   Fri Aug 18 09:07:22 2023 +0900

    fix(system_monitor): high-memory process are not provided in MEM order (autowarefoundation#4654)

    * fix(process_monitor): high-memory process are not being provided in %MEM order

    Signed-off-by: ito-san <fumihito.ito@tier4.jp>

    * changed option from 'g' to 'n'

    Signed-off-by: ito-san <fumihito.ito@tier4.jp>

    ---------

    Signed-off-by: ito-san <fumihito.ito@tier4.jp>

commit 02ba0c6
Author: Takayuki Murooka <takayuki5168@gmail.com>
Date:   Fri Aug 18 08:41:39 2023 +0900

    fix(planning_debug_tools): fix the bug of perception_replayer with detected objects publishing (autowarefoundation#4653)

    Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

commit 4df5f8a
Author: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Date:   Fri Aug 18 01:56:27 2023 +0900

    fix(start_planner): fix blinker direction (autowarefoundation#4363)

    * fix(start_planner): fix blinker direction

    Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

    * fix

    Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

    ---------

    Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

commit 1b10386
Author: Kasper Mecklenburg <30662532+kaspermeck-arm@users.noreply.github.com>
Date:   Thu Aug 17 05:49:00 2023 -0700

    refactor(joy_controller): rework parameters (autowarefoundation#3992)

    * refactor(joy_controller): rework parameters

    Updated adding a schema according to new ROS node config coding
    guidelines.

    Signed-off-by: kaspermeck-arm <kasper.mecklenburg@arm.com>
    Change-Id: Icf76852cd102bf70a27f7d4111f1b52de087a00d

    * refactor(joy_controller): rework parameters

    Updated adding a schema according to new ROS node config coding
    guidelines.

    Signed-off-by: kaspermeck-arm <kasper.mecklenburg@arm.com>
    Change-Id: Icf76852cd102bf70a27f7d4111f1b52de087a00d

    * Apply suggestions from code review

    Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>

    * Added quotes for default values

    Signed-off-by: kaspermeck-arm <kasper.mecklenburg@arm.com>
    Change-Id: Ib754b9400003c0871ee1dd9bda8db07215852a78

    ---------

    Signed-off-by: kaspermeck-arm <kasper.mecklenburg@arm.com>
    Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
    Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>

commit 81a1e53
Author: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Date:   Thu Aug 17 19:07:00 2023 +0900

    fix(intersection): guard invalid access (autowarefoundation#4655)

    Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

commit bb14a40
Author: Mamoru Sobue <mamoru.sobue@tier4.jp>
Date:   Thu Aug 17 18:52:39 2023 +0900

    fix(intersection): refactor first stop timeout (autowarefoundation#4457)

    Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

commit e9dfe5c
Author: Berkay Karaman <brkay54@gmail.com>
Date:   Thu Aug 17 12:24:57 2023 +0300

    feat(pid_longitudinal_controller): take into account the current acceleration to calculate delayed pose (autowarefoundation#4616)

    * feat(pid_longitudinal_controller): take into account the current acceleration to calculate delayed pose

    Signed-off-by: Berkay Karaman <brkay54@gmail.com>

    * Update for reverse driving

    Signed-off-by: Berkay Karaman <brkay54@gmail.com>

    * update for wrong calculation

    Signed-off-by: Berkay Karaman <brkay54@gmail.com>

    * update

    Signed-off-by: Berkay Karaman <brkay54@gmail.com>

    ---------

    Signed-off-by: Berkay Karaman <brkay54@gmail.com>

commit b5f83d0
Author: Takayuki Murooka <takayuki5168@gmail.com>
Date:   Thu Aug 17 17:15:08 2023 +0900

    feat(obstacle_cruise_planner): consider object velocity direction (autowarefoundation#4647)

    * feat(obstacle_cruise_planner): consider object velocity direction

    Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

    * update

    Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

    * chore: spell fix

    ---------

    Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
    Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>

commit 4d66811
Author: Takayuki Murooka <takayuki5168@gmail.com>
Date:   Thu Aug 17 17:12:01 2023 +0900

    feat(obstacle_velocity_limiter): consider object velocity direction (autowarefoundation#4649)

    * feat(obstacle_velocity_limiter): consider object velocity direction

    Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

    * fix

    Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

    ---------

    Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

commit 420af00
Author: Takayuki Murooka <takayuki5168@gmail.com>
Date:   Thu Aug 17 17:11:33 2023 +0900

    feat(occlusion spot): consider object velocity direction (autowarefoundation#4650)

    Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

commit 2da561f
Author: Takayuki Murooka <takayuki5168@gmail.com>
Date:   Thu Aug 17 17:10:55 2023 +0900

    feat(intersection): consider object velocity direction (autowarefoundation#4651)

    * feat(intersection): consider object velocity direction

    Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

    * update

    Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

    ---------

    Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

commit e1a86f9
Author: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
Date:   Thu Aug 17 14:08:56 2023 +0900

    refactor(behavior_path_planner): create path_safety_checker directory (autowarefoundation#4644)

    * create safety_check directory

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

    * style(pre-commit): autofix

    * rename directory name safety_check to path_safety_checker

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

    * style(pre-commit): autofix

    * change directory name

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

    ---------

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
    Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

commit 49f9d9d
Author: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Date:   Thu Aug 17 13:32:52 2023 +0900

    fix(avoidance): fix trimmed shift line alignment (autowarefoundation#4632)

    * fix(avoidance): fix trimmed shift line alignment

    Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

    * fix(avoidance): fill shift line gap

    Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

    * fixup! fix(avoidance): fix trimmed shift line alignment

    ---------

    Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

commit ce01013
Author: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Date:   Thu Aug 17 13:30:14 2023 +0900

    feat(avoidance): create detection area from latest generated path (autowarefoundation#4525)

    * feat(avoidance): create detection area from latest generated path

    Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

    * refactor(avoidance): remove unused marker utils

    Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

    ---------

    Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

commit 1f5cf31
Author: Tomohito Ando <tomohito.ando@tier4.jp>
Date:   Fri Jul 28 09:51:29 2023 +0900

    change input topic of the traffic signals

    Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

commit 0769685
Merge: a6c8641 d0685fc
Author: Tomohito Ando <tomohito.ando@tier4.jp>
Date:   Thu Jul 20 16:13:13 2023 +0900

    Merge branch 'main' into support-new-traffic-signal-interface

    Resolved conflicts in `scene_crosswalk.cpp`

    Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

commit a6c8641
Author: Tomohito Ando <tomohito.ando@tier4.jp>
Date:   Wed Jul 12 14:18:24 2023 +0900

    do not return until the all regulatory elements are checked

    Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

commit 6eccb50
Author: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date:   Tue Jul 11 05:09:54 2023 +0000

    style(pre-commit): autofix

commit 2c5bb3c
Merge: 9767e21 3ae0b00
Author: Tomohito Ando <tomohito.ando@tier4.jp>
Date:   Tue Jul 11 14:08:10 2023 +0900

    Merge branch 'main' into support-new-traffic-signal-interface

    Resolved conflicts in planning/behavior_velocity_planner_common/package.xml

    Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

commit 9767e21
Merge: 636420a 5605b19
Author: Tomohito Ando <tomohito.ando@tier4.jp>
Date:   Mon Jul 10 18:10:50 2023 +0900

    Merge branch 'main' into support-new-traffic-signal-interface

    Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

commit 636420a
Author: Tomohito Ando <tomohito.ando@tier4.jp>
Date:   Mon Jul 10 17:57:26 2023 +0900

    change the input of traffic signal to traffic light arbiter

    Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

commit 1767ba5
Author: Tomohito Ando <tomohito.ando@tier4.jp>
Date:   Mon Jul 10 17:56:52 2023 +0900

    use the regulatory element id instead of traffic light id

    Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

commit a10dc06
Author: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date:   Mon Jul 10 00:45:55 2023 +0000

    style(pre-commit): autofix

commit aacf390
Author: Tomohito Ando <tomohito.ando@tier4.jp>
Date:   Mon Jul 10 09:42:04 2023 +0900

    replace TrafficLightElement with TrafficSignalElement

    Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

commit f900d48
Author: Tomohito Ando <tomohito.ando@tier4.jp>
Date:   Tue Jul 4 19:33:39 2023 +0900

    remove the external signal input source in behavior_planning_launch.py

    Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

commit 127ce37
Author: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date:   Tue Jul 4 02:31:15 2023 +0000

    style(pre-commit): autofix

commit 7c010c6
Author: Tomohito Ando <tomohito.ando@tier4.jp>
Date:   Tue Jul 4 11:29:35 2023 +0900

    add missing dependency

    Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

commit 35a4e97
Author: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date:   Fri Jun 30 13:58:07 2023 +0000

    style(pre-commit): autofix

commit 1e5bf66
Author: Tomohito Ando <tomohito.ando@tier4.jp>
Date:   Fri Jun 30 22:33:38 2023 +0900

    feat(behavior_velocity): support new traffic signal interface

    Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
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@shmpwk shmpwk shmpwk approved these changes

@HansRobo HansRobo Awaiting requested review from HansRobo

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@kminoda @shmpwk