From f4eaba1d769206fadfd88de37631ccb3a1cebc79 Mon Sep 17 00:00:00 2001
From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
Date: Fri, 7 Feb 2025 18:46:33 +0900
Subject: [PATCH] feat(node-diagram): update planning node names (#644)

Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>
---
 ...-node-diagram-autoware-universe.drawio.svg | 7948 ++++++++++++-----
 1 file changed, 5916 insertions(+), 2032 deletions(-)

diff --git a/docs/design/autoware-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg b/docs/design/autoware-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg
index 859c85edd38..3b98dd4aa33 100644
--- a/docs/design/autoware-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg
+++ b/docs/design/autoware-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg
@@ -3,12 +3,13 @@
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display: inline !important;&amp;quot;&amp;gt;pointcloud_map_filtered/pointcloud&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;labelBackgroundColor=none;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;krj0YX5Ew506tw86OF1e-43&quot; target=&quot;P3Th9qUTFY8M71-R8FQo-49&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.6667&quot; y=&quot;1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;_uGvnR129YdckunQ05wr-123&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;krj0YX5Ew506tw86OF1e-43&quot; target=&quot;_uGvnR129YdckunQ05wr-122&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-1630&quot; y=&quot;-447&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-1505&quot; y=&quot;-447&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;compare_map_filter&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_compare_map_segmentation&quot; id=&quot;krj0YX5Ew506tw86OF1e-43&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#d5e8d4;strokeColor=#82b366;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1690&quot; y=&quot;-485&quot; width=&quot;120&quot; height=&quot;20&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;krj0YX5Ew506tw86OF1e-48&quot; value=&quot;&amp;lt;span style=&amp;quot;background-color: rgb(255, 255, 255);&amp;quot;&amp;gt;/perception/obstacle_segmentation/pointcloud&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;labelBackgroundColor=none;entryX=0.5;entryY=0;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; target=&quot;_uGvnR129YdckunQ05wr-132&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.6527&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1633&quot; y=&quot;-637&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-1629&quot; y=&quot;-769&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y7-SZCdBJUUckgW5AFiH-47&quot; value=&quot;&amp;lt;span style=&amp;quot;&amp;quot;&amp;gt;map&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;labelBackgroundColor=none;entryX=0;entryY=0.5;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; target=&quot;krj0YX5Ew506tw86OF1e-43&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.821&quot; y=&quot;-5&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1980&quot; y=&quot;-479&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-1752&quot; y=&quot;-429&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-1975&quot; y=&quot;-479&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-233&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-131&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-132&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-234&quot; value=&quot;lanelet_filtered_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-233&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.1143&quot; y=&quot;5&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;object_lanelet_filter&quot; tooltip=&quot;The object_lanelet_filter is a node that filters detected object by using vector map. The objects only inside of the vector map will be published.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/perception/autoware_detected_object_validation/object-lanelet-filter.md&quot; id=&quot;y0lixSO8cwDmPpI5OSjV-131&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1236&quot; y=&quot;-204&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-150&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-132&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-149&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-151&quot; value=&quot;far_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-150&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.0824&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-5&quot; y=&quot;-30&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;radar_object_clustering&quot; tooltip=&quot;This package can make clustered objects from radar DetectedObjects, the objects which is converted from RadarTracks by radar_tracks_msgs_converter and is processed by noise filter. In other word, this package can combine multiple radar detections from one object into one and adjust class and size.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_object_clustering&quot; id=&quot;y0lixSO8cwDmPpI5OSjV-132&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1236&quot; y=&quot;-109&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-137&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-133&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-131&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-138&quot; value=&quot;far_high_speed_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-137&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.25&quot; y=&quot;4&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;object_range_splitter&quot; tooltip=&quot;object_range_splitter is a package to divide detected objects into two messages by the distance from the origin.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_object_range_splitter&quot; id=&quot;y0lixSO8cwDmPpI5OSjV-133&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1236&quot; y=&quot;-309&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-140&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-139&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-133&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-141&quot; value=&quot;high_speed_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-140&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.2&quot; y=&quot;-4&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;object_velocity_splitter&quot; tooltip=&quot;This package contains a object filter module for autoware_auto_perception_msgs/msg/DetectedObject. This package can split DetectedObjects into two messages by object&amp;#39;s speed.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_object_velocity_splitter&quot; id=&quot;y0lixSO8cwDmPpI5OSjV-139&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1236&quot; y=&quot;-409&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-143&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-142&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-139&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-144&quot; value=&quot;noise_filtered_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-143&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.5529&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint y=&quot;-14&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;radar_crossing_objects_&amp;lt;br&amp;gt;noise_filter&quot; tooltip=&quot;This package contains a radar noise filter module for autoware_auto_perception_msgs/msg/DetectedObject. This package can filter the noise objects which cross to the ego vehicle.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_crossing_objects_noise_filter&quot; id=&quot;y0lixSO8cwDmPpI5OSjV-142&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1236&quot; y=&quot;-499&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-147&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-142&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; 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parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-149&quot; target=&quot;h2nIhsRq0HVOu7yzmkO7-113&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1380&quot; y=&quot;121&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-1166&quot; y=&quot;121&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-154&quot; value=&quot;far_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-153&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry y=&quot;3&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint y=&quot;7&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;multi_object_&amp;lt;br&amp;gt;tracker&quot; tooltip=&quot;クラス＋位置＋形状情報に対してtrackingを行う。（最近上流が速度情報も出せるようになってきたらしい）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_multi_object_tracker&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-38&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1868&quot; y=&quot;40&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;radar_object_tracker&quot; tooltip=&quot;This package provides a radar object tracking node that processes sequences of detected objects to assign consistent identities to them and estimate their velocities.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_object_tracker&quot; id=&quot;y0lixSO8cwDmPpI5OSjV-149&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1236&quot; y=&quot;36&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;h2nIhsRq0HVOu7yzmkO7-115&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;h2nIhsRq0HVOu7yzmkO7-113&quot; target=&quot;F5SEpTDf39VAK2Lenjye-45&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;decorative_tracking_&amp;lt;br&amp;gt;merger&quot; tooltip=&quot;This package try to merge two tracking objects from different sensor.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_tracking_object_merger&quot; id=&quot;h2nIhsRq0HVOu7yzmkO7-113&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1540&quot; y=&quot;101&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;zENOgqafKbGFrCYQh26c-113&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; target=&quot;h2nIhsRq0HVOu7yzmkO7-125&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1005&quot; y=&quot;-294&quot; as=&quot;sourcePoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;zENOgqafKbGFrCYQh26c-114&quot; value=&quot;/sensing/lidar/top/&amp;lt;br&amp;gt;pointcloud_raw&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];&quot; parent=&quot;zENOgqafKbGFrCYQh26c-113&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.1974&quot; y=&quot;-1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-28&quot; y=&quot;-20&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;&amp;lt;span style=&amp;quot;background-color: rgb(251, 251, 251);&amp;quot;&amp;gt;pedestrian/&amp;lt;/span&amp;gt;&amp;lt;br style=&amp;quot;border-color: var(--border-color); background-color: rgb(251, 251, 251);&amp;quot;&amp;gt;&amp;lt;span style=&amp;quot;background-color: rgb(251, 251, 251);&amp;quot;&amp;gt;traffic_light_classifier&amp;lt;/span&amp;gt;&quot; tooltip=&quot;画像に含まれる信号機の色を識別する&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_traffic_light_classifier&quot; id=&quot;113&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-755&quot; y=&quot;-399&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;122&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.75;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;labelBackgroundColor=none;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;F5SEpTDf39VAK2Lenjye-52&quot; target=&quot;113&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-830&quot; y=&quot;-429&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-830&quot; y=&quot;-394&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-805&quot; y=&quot;-419&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-695&quot; y=&quot;-419&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-207&quot; value=&quot;/map/vector_map&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;comic=0;labelBackgroundColor=none;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; target=&quot;F5SEpTDf39VAK2Lenjye-45&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.2053&quot; y=&quot;-14&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-1620&quot; y=&quot;196&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-1855&quot; y=&quot;196&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-210&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;huNNO2pCuBcXr_yaQgU9-38&quot; target=&quot;h2nIhsRq0HVOu7yzmkO7-113&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-1795&quot; y=&quot;121&quot; /&gt;&#10;            &lt;/Array&gt;&#10;            &lt;mxPoint x=&quot;-1500&quot; y=&quot;121&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-246&quot; value=&quot;near_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-210&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.5133&quot; y=&quot;-4&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-58&quot; y=&quot;6&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-224&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0, 0, 0); font-family: Helvetica; font-size: 12px; font-style: normal; font-variant-ligatures: normal; 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as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1362.5238095238096&quot; y=&quot;-649&quot; as=&quot;sourcePoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-227&quot; value=&quot;/sensing/camera/&amp;lt;br style=&amp;quot;border-color: var(--border-color);&amp;quot;&amp;gt;camera*/image_rect_color&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-226&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.0539&quot; y=&quot;5&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-6&quot; y=&quot;-52&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;_uGvnR129YdckunQ05wr-126&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;_uGvnR129YdckunQ05wr-122&quot; target=&quot;_uGvnR129YdckunQ05wr-124&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;_uGvnR129YdckunQ05wr-131&quot; value=&quot;clustering/roi_cluster/&amp;lt;div&amp;gt;clusters&amp;lt;/div&amp;gt;&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];fontColor=default;labelBackgroundColor=none;&quot; parent=&quot;_uGvnR129YdckunQ05wr-126&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.4728&quot; y=&quot;1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-5&quot; y=&quot;-11&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;roi_pointcloud_fusion&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_euclidean_cluster&quot; 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tooltip=&quot;clustering結果に画像のdetection結果をprojectionしてlabelを付与する&quot; link=&quot;https://github.com/badai-nguyen/autoware.universe/blob/e517f09cb16ba96513219cd7f389cc671a78c6dc/perception/raindrop_cluster_filter/raindrop_cluster_filter.md#low_intensity_cluster_filter&quot; id=&quot;tti8n0GrwWFmY_eOm1F0-122&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=none;strokeColor=#82b366;sketch=0;labelBackgroundColor=none;fontSize=8;fontColor=default;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1433&quot; y=&quot;-281&quot; width=&quot;140&quot; height=&quot;23&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; value=&quot;Planning&quot; style=&quot;&quot; parent=&quot;0&quot; /&gt;&#10;        &lt;mxCell id=&quot;31&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;dashed=1;fillColor=none;strokeWidth=1;comic=0;&quot; 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style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;startArrow=none;startFill=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;F5SEpTDf39VAK2Lenjye-9&quot; target=&quot;F5SEpTDf39VAK2Lenjye-29&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.8837&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-428&quot; y=&quot;-840&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-600&quot; y=&quot;-840&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-600&quot; y=&quot;310&quot; /&gt;&#10;            &lt;/Array&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-25&quot; value=&quot;motion_planning/obstacle_avoidance_planner/trajectory [Trajectory]&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;F5SEpTDf39VAK2Lenjye-20&quot; target=&quot;F5SEpTDf39VAK2Lenjye-21&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.4&quot; y=&quot;1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;obstacle_&amp;lt;br&amp;gt;avoidance_planner&quot; tooltip=&quot;車両形状や走行可能領域を考慮して、経路の平滑化を行う。障害物も避けるが、long historyで最近は回避機能はoffになっています。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/1a8fbc432614a35d41cff0c969a6e69e0586eafc/planning/autoware_path_optimizer&quot; id=&quot;F5SEpTDf39VAK2Lenjye-20&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; 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tooltip=&quot;自車が停止しているときに、周囲の障害物を確認し、近くに障害物がいる場合は車両を発進させない。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module&quot; id=&quot;F5SEpTDf39VAK2Lenjye-21&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-500&quot; y=&quot;110&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;obstacle_stop_&amp;lt;br&amp;gt;planner&quot; tooltip=&quot;障害物停止・前車追従・近傍障害物減速の複数の機能を持ち、機能に応じて経路上に速度を埋め込む。&amp;#xa;目標経路上に障害物点がある場合は停止、経路近くに障害物点群がある場合は減速、前方に車両が居る場合は前車追従。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/autoware_obstacle_stop_planner&quot; id=&quot;F5SEpTDf39VAK2Lenjye-22&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;205&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;costmap_generator&quot; tooltip=&quot;障害物点群や地図の走行可能エリアの情報から、駐車プランナー用のコストマップを生成する。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/costmap_generator&quot; id=&quot;F5SEpTDf39VAK2Lenjye-34&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-210&quot; y=&quot;-640&quot; 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/&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;surround_obstacle_checker&quot; tooltip=&quot;自車が停止しているときに、周囲の障害物を確認し、近くに障害物がいる場合は車両を発進させない。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/autoware_surround_obstacle_checker&quot; id=&quot;K7M4AEPT0enKUQUD1kn6-43&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-882&quot; y=&quot;110&quot; width=&quot;160&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;K7M4AEPT0enKUQUD1kn6-44&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;K7M4AEPT0enKUQUD1kn6-43&quot; target=&quot;GMkAwjkdd8HhiVTGiUsg-41&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;behavior_path_planner&quot; tooltip=&quot;交通ルールをもとに、経路上の最大速度を決定します。各モジュールは、自身の計算した最大速度と上段の結果を比較し、小さい速度を経路上に書き込みます。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/behavior_path_planner&quot; id=&quot;11&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;verticalAlign=top;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-530&quot; y=&quot;-790&quot; width=&quot;200&quot; height=&quot;241&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;side_shift&quot; tooltip=&quot;遠隔からの司令をもとに幅寄せを行います。&quot; id=&quot;14&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-592&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;pull_over/out&quot; tooltip=&quot;ルート情報をもとに路肩への幅寄せ、路肩からの発進を行います。&quot; id=&quot;13&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-632&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10; 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id=&quot;zEs4wxTr3dO1cdEekOQt-54&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-543&quot; y=&quot;-249&quot; width=&quot;110&quot; height=&quot;25&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;traffic_light_&amp;lt;br&amp;gt;multi_camera_fusion&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_traffic_light_multi_camera_fusion&quot; tooltip=&quot;traffic_light_multi_camera_fusion performs traffic light signal fusion which can be summarized as the following two tasks:&amp;#xa;&amp;#xa;Multi-Camera-Fusion: performed on single traffic light signal detected by different cameras.&amp;#xa;Group-Fusion: performed on traffic light signals within the same group, which means traffic lights sharing the same regulatory element id defined in lanelet2 map.&quot; 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parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-133&quot; target=&quot;F5SEpTDf39VAK2Lenjye-140&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;fix_distortion&quot; tooltip=&quot;自車の回転によって生じたLiDAR点群の歪みを補正する。（リンクこれで合ってるっけ？）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/distortion-corrector.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-133&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2327&quot; y=&quot;-410&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-134&quot; value=&quot;top/pointcloud_raw&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-135&quot; target=&quot;F5SEpTDf39VAK2Lenjye-137&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-2267&quot; y=&quot;-560&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;packets_to_&amp;lt;br&amp;gt;pointcloud&quot; tooltip=&quot;velodyneのpacketをpointcloud型に変更する&quot; id=&quot;F5SEpTDf39VAK2Lenjye-135&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2327&quot; y=&quot;-620&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-136&quot; value=&quot;top/self_cropped/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-137&quot; target=&quot;F5SEpTDf39VAK2Lenjye-139&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_self&quot; tooltip=&quot;自車の領域内にある点群を除去する。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-137&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2327&quot; y=&quot;-550&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-138&quot; value=&quot;top/mirror_cropped/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-139&quot; target=&quot;F5SEpTDf39VAK2Lenjye-133&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_mirror&quot; tooltip=&quot;自車のサイドミラーの部分に当たった点群を除去する&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-139&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2327&quot; y=&quot;-480&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;ring_outlier_filter&quot; tooltip=&quot;点群のノイズ処理を行う&amp;#xa;（同一リングから得られたLiDARの点をクラスタリングし、点群数の少ないクラスタに属する点群はノイズとして除去される）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-140&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2327&quot; y=&quot;-340&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-141&quot; value=&quot;lidar/*/velodyne_packets&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; 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letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none&amp;quot;&amp;gt;*/rectified/pointcloud&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-144&quot; target=&quot;F5SEpTDf39VAK2Lenjye-151&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;fix_distortion&quot; tooltip=&quot;自車の回転によって生じたLiDAR点群の歪みを補正する。（リンクこれで合ってるっけ？）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/distortion-corrector.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-144&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2497&quot; y=&quot;-410&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-145&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0 , 0 , 0) ; font-family: &amp;amp;#34;helvetica&amp;amp;#34; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none&amp;quot;&amp;gt;*/pointcloud_raw&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-146&quot; target=&quot;F5SEpTDf39VAK2Lenjye-148&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-2437&quot; y=&quot;-560&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;packets_to_&amp;lt;br&amp;gt;pointcloud&quot; tooltip=&quot;velodyneのpacketをpointcloud型に変更する&quot; id=&quot;F5SEpTDf39VAK2Lenjye-146&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2497&quot; y=&quot;-620&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-147&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0 , 0 , 0) ; font-family: &amp;amp;#34;helvetica&amp;amp;#34; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none&amp;quot;&amp;gt;*/self_cropped/pointcloud&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-148&quot; target=&quot;F5SEpTDf39VAK2Lenjye-150&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_self&quot; tooltip=&quot;自車の領域内にある点群を除去する。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-148&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2497&quot; y=&quot;-550&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-149&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0 , 0 , 0) ; font-family: &amp;amp;#34;helvetica&amp;amp;#34; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none&amp;quot;&amp;gt;*/mirror_cropped/pointcloud&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-150&quot; target=&quot;F5SEpTDf39VAK2Lenjye-144&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_mirror&quot; tooltip=&quot;自車のサイドミラーの部分に当たった点群を除去する&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-150&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2497&quot; y=&quot;-480&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;ring_outlier_filter&quot; tooltip=&quot;点群のノイズ処理を行う&amp;#xa;（同一リングから得られたLiDARの点をクラスタリングし、点群数の少ないクラスタに属する点群はノイズとして除去される）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-151&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2497&quot; y=&quot;-340&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-120&quot; value=&quot;/sensing/lidar&amp;lt;br&amp;gt;/concatenated/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;startArrow=none;startFill=0;endArrow=classic;endFill=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-89&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-187&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.0341&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-2355&quot; y=&quot;-147&quot; /&gt;&#10;            &lt;/Array&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-2367&quot; y=&quot;-175&quot; as=&quot;targetPoint&quot; /&gt;&#10; 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style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-261&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-258&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-263&quot; value=&quot;*/filtered_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-262&quot; connectable=&quot;0&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.2513&quot; y=&quot;-2&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;2&quot; y=&quot;-6&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;radar_tracks_&amp;lt;br&amp;gt;noise_filter&quot; 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parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;qDWy_0qvZc8UbF-aOlQ3-75&quot; target=&quot;P3Th9qUTFY8M71-R8FQo-60&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1630&quot; y=&quot;-194&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-1630&quot; y=&quot;-97&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-1630&quot; y=&quot;-154&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-1630&quot; y=&quot;-154&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;object_lanelet_filter&quot; tooltip=&quot;vector mapの情報を用いて，unknown objectをfilterする．lane内のunknown objectのみを残す．&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/perception/autoware_detected_object_validation/object-lanelet-filter.md&quot; 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/&gt;&#10;            &lt;mxPoint x=&quot;-1807&quot; y=&quot;-23&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;sD1GUEGzJ8wIkTYBXg-_-41&quot; value=&quot;/map/vector_map&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;comic=0;labelBackgroundColor=none;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; target=&quot;kswE7VCqYpqteZK-cnUp-42&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.5127&quot; y=&quot;-17&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1&quot; as=&quot;offset&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-2060&quot; y=&quot;-34&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-1855&quot; y=&quot;-20&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;h2nIhsRq0HVOu7yzmkO7-122&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0, 0, 0); font-family: Helvetica; font-size: 11px; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: center; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; text-decoration-thickness: initial; text-decoration-style: initial; text-decoration-color: initial; float: none; display: inline !important;&amp;quot;&amp;gt;pointcloud_map_filtered/pointcloud&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;labelBackgroundColor=none;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;krj0YX5Ew506tw86OF1e-43&quot; target=&quot;P3Th9qUTFY8M71-R8FQo-49&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.6667&quot; y=&quot;1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;_uGvnR129YdckunQ05wr-123&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;krj0YX5Ew506tw86OF1e-43&quot; target=&quot;_uGvnR129YdckunQ05wr-122&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-1630&quot; y=&quot;-447&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-1505&quot; y=&quot;-447&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;compare_map_filter&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_compare_map_segmentation&quot; id=&quot;krj0YX5Ew506tw86OF1e-43&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#d5e8d4;strokeColor=#82b366;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1690&quot; y=&quot;-485&quot; width=&quot;120&quot; height=&quot;20&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;krj0YX5Ew506tw86OF1e-48&quot; value=&quot;&amp;lt;span style=&amp;quot;background-color: rgb(255, 255, 255);&amp;quot;&amp;gt;/perception/obstacle_segmentation/pointcloud&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;labelBackgroundColor=none;entryX=0.5;entryY=0;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; target=&quot;_uGvnR129YdckunQ05wr-132&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.6527&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1633&quot; y=&quot;-637&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-1629&quot; y=&quot;-769&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y7-SZCdBJUUckgW5AFiH-47&quot; value=&quot;&amp;lt;span style=&amp;quot;&amp;quot;&amp;gt;map&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;labelBackgroundColor=none;entryX=0;entryY=0.5;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; target=&quot;krj0YX5Ew506tw86OF1e-43&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.821&quot; y=&quot;-5&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1980&quot; y=&quot;-479&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-1752&quot; y=&quot;-429&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-1975&quot; y=&quot;-479&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-233&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-131&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-132&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-234&quot; value=&quot;lanelet_filtered_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-233&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.1143&quot; y=&quot;5&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;object_lanelet_filter&quot; tooltip=&quot;The object_lanelet_filter is a node that filters detected object by using vector map. The objects only inside of the vector map will be published.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/perception/autoware_detected_object_validation/object-lanelet-filter.md&quot; id=&quot;y0lixSO8cwDmPpI5OSjV-131&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1236&quot; y=&quot;-204&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-150&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-132&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-149&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-151&quot; value=&quot;far_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-150&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.0824&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-5&quot; y=&quot;-30&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;radar_object_clustering&quot; tooltip=&quot;This package can make clustered objects from radar DetectedObjects, the objects which is converted from RadarTracks by radar_tracks_msgs_converter and is processed by noise filter. In other word, this package can combine multiple radar detections from one object into one and adjust class and size.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_object_clustering&quot; id=&quot;y0lixSO8cwDmPpI5OSjV-132&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1236&quot; y=&quot;-109&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-137&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-133&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-131&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-138&quot; value=&quot;far_high_speed_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-137&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.25&quot; y=&quot;4&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;object_range_splitter&quot; tooltip=&quot;object_range_splitter is a package to divide detected objects into two messages by the distance from the origin.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_object_range_splitter&quot; id=&quot;y0lixSO8cwDmPpI5OSjV-133&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1236&quot; y=&quot;-309&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-140&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-139&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-133&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-141&quot; value=&quot;high_speed_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-140&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.2&quot; y=&quot;-4&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;object_velocity_splitter&quot; tooltip=&quot;This package contains a object filter module for autoware_auto_perception_msgs/msg/DetectedObject. This package can split DetectedObjects into two messages by object&amp;#39;s speed.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_object_velocity_splitter&quot; id=&quot;y0lixSO8cwDmPpI5OSjV-139&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1236&quot; y=&quot;-409&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-143&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-142&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-139&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-144&quot; value=&quot;noise_filtered_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-143&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.5529&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint y=&quot;-14&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;radar_crossing_objects_&amp;lt;br&amp;gt;noise_filter&quot; tooltip=&quot;This package contains a radar noise filter module for autoware_auto_perception_msgs/msg/DetectedObject. This package can filter the noise objects which cross to the ego vehicle.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_crossing_objects_noise_filter&quot; id=&quot;y0lixSO8cwDmPpI5OSjV-142&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1236&quot; y=&quot;-499&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-147&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-142&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; 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parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-149&quot; target=&quot;h2nIhsRq0HVOu7yzmkO7-113&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1380&quot; y=&quot;121&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-1166&quot; y=&quot;121&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-154&quot; value=&quot;far_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-153&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry y=&quot;3&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint y=&quot;7&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;multi_object_&amp;lt;br&amp;gt;tracker&quot; tooltip=&quot;クラス＋位置＋形状情報に対してtrackingを行う。（最近上流が速度情報も出せるようになってきたらしい）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_multi_object_tracker&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-38&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1868&quot; y=&quot;40&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;radar_object_tracker&quot; tooltip=&quot;This package provides a radar object tracking node that processes sequences of detected objects to assign consistent identities to them and estimate their velocities.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_object_tracker&quot; id=&quot;y0lixSO8cwDmPpI5OSjV-149&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1236&quot; y=&quot;36&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;h2nIhsRq0HVOu7yzmkO7-115&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;h2nIhsRq0HVOu7yzmkO7-113&quot; target=&quot;F5SEpTDf39VAK2Lenjye-45&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;decorative_tracking_&amp;lt;br&amp;gt;merger&quot; tooltip=&quot;This package try to merge two tracking objects from different sensor.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_tracking_object_merger&quot; id=&quot;h2nIhsRq0HVOu7yzmkO7-113&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1540&quot; y=&quot;101&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;zENOgqafKbGFrCYQh26c-113&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; target=&quot;h2nIhsRq0HVOu7yzmkO7-125&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1005&quot; y=&quot;-294&quot; as=&quot;sourcePoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;zENOgqafKbGFrCYQh26c-114&quot; value=&quot;/sensing/lidar/top/&amp;lt;br&amp;gt;pointcloud_raw&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];&quot; parent=&quot;zENOgqafKbGFrCYQh26c-113&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.1974&quot; y=&quot;-1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-28&quot; y=&quot;-20&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;&amp;lt;span style=&amp;quot;background-color: rgb(251, 251, 251);&amp;quot;&amp;gt;pedestrian/&amp;lt;/span&amp;gt;&amp;lt;br style=&amp;quot;border-color: var(--border-color); background-color: rgb(251, 251, 251);&amp;quot;&amp;gt;&amp;lt;span style=&amp;quot;background-color: rgb(251, 251, 251);&amp;quot;&amp;gt;traffic_light_classifier&amp;lt;/span&amp;gt;&quot; tooltip=&quot;画像に含まれる信号機の色を識別する&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_traffic_light_classifier&quot; id=&quot;113&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-755&quot; y=&quot;-399&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;122&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.75;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;labelBackgroundColor=none;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;F5SEpTDf39VAK2Lenjye-52&quot; target=&quot;113&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-830&quot; y=&quot;-429&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-830&quot; y=&quot;-394&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-805&quot; y=&quot;-419&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-695&quot; y=&quot;-419&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-207&quot; value=&quot;/map/vector_map&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;comic=0;labelBackgroundColor=none;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; target=&quot;F5SEpTDf39VAK2Lenjye-45&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.2053&quot; y=&quot;-14&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-1620&quot; y=&quot;196&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-1855&quot; y=&quot;196&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-210&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;huNNO2pCuBcXr_yaQgU9-38&quot; target=&quot;h2nIhsRq0HVOu7yzmkO7-113&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-1795&quot; y=&quot;121&quot; /&gt;&#10;            &lt;/Array&gt;&#10;            &lt;mxPoint x=&quot;-1500&quot; y=&quot;121&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-246&quot; value=&quot;near_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-210&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.5133&quot; y=&quot;-4&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-58&quot; y=&quot;6&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-224&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0, 0, 0); font-family: Helvetica; font-size: 12px; font-style: normal; font-variant-ligatures: normal; 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link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/1a8fbc432614a35d41cff0c969a6e69e0586eafc/planning/autoware_path_optimizer&quot; id=&quot;F5SEpTDf39VAK2Lenjye-20&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-36&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;costmap_generator&quot; tooltip=&quot;障害物点群や地図の走行可能エリアの情報から、駐車プランナー用のコストマップを生成する。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/costmap_generator&quot; id=&quot;F5SEpTDf39VAK2Lenjye-34&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; 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/&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;51&quot; value=&quot;&amp;lt;span style=&amp;quot;font-size: 11px;&amp;quot;&amp;gt;/planning/scenario_planning/modified_goal&amp;lt;/span&amp;gt;&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];&quot; parent=&quot;50&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.2965&quot; y=&quot;-1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;73&quot; y=&quot;-16&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;72&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;html=1;exitX=0;exitY=0.75;exitDx=0;exitDy=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classicThin;endFill=1;jumpStyle=arc;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;F5SEpTDf39VAK2Lenjye-9&quot; 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tooltip=&quot;高精度地図情報をもとに、自己位置からゴールまでのルートを計算します。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/autoware_mission_planner&quot; id=&quot;F5SEpTDf39VAK2Lenjye-9&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-589&quot; y=&quot;-950&quot; width=&quot;321&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-27&quot; value=&quot;behavior_planning/path_with_lane_id&quot; style=&quot;edgeStyle=none;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;11&quot; target=&quot;41&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-446.5&quot; y=&quot;-507&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-446.5&quot; y=&quot;-457&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;freespace_planner&quot; tooltip=&quot;コストマップとゴールから、自車の走行ルートを計算する。いまはHA*を使ってる。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/freespace_planner&quot; id=&quot;F5SEpTDf39VAK2Lenjye-33&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-290&quot; y=&quot;-730&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; 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parent=&quot;iM43lsEIwqhlJ7BxjptO-47&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.206&quot; y=&quot;-1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;1&quot; y=&quot;-23&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;XJpLpE4-N4LtLg8lOPLy-45&quot; value=&quot;&amp;amp;lt;Parking&amp;amp;gt;&quot; style=&quot;text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;dashed=1;comic=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-180&quot; y=&quot;-790&quot; width=&quot;80&quot; height=&quot;20&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;7zbXjBYCwGQrjjLUvmJF-47&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0, 0, 0); font-family: helvetica; font-size: 11px; 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parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;K7M4AEPT0enKUQUD1kn6-43&quot; target=&quot;GMkAwjkdd8HhiVTGiUsg-41&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;behavior_path_planner&quot; tooltip=&quot;交通ルールをもとに、経路上の最大速度を決定します。各モジュールは、自身の計算した最大速度と上段の結果を比較し、小さい速度を経路上に書き込みます。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/behavior_path_planner&quot; id=&quot;11&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;verticalAlign=top;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-530&quot; y=&quot;-790&quot; width=&quot;200&quot; height=&quot;279&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;side_shift&quot; 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style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];comic=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-77&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.7105&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint y=&quot;-151&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;huNNO2pCuBcXr_yaQgU9-140&quot; value=&quot;/control/shift_decider/gear_cmd&amp;lt;br&amp;gt;[GearCommand]&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; source=&quot;103&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;335&quot; y=&quot;-520&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;440&quot; 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style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; source=&quot;huNNO2pCuBcXr_yaQgU9-145&quot; target=&quot;huNNO2pCuBcXr_yaQgU9-137&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;1001&quot; y=&quot;-340&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;external_cmd_&amp;lt;br&amp;gt;selector&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/control/autoware_external_cmd_selector&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-145&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;880&quot; y=&quot;-780&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;pMXYhzgBW71XrXo-O7h1-57&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.862;entryY=0.011;entryDx=0;entryDy=0;entryPerimeter=0;labelBackgroundColor=default;fontColor=default;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; source=&quot;huNNO2pCuBcXr_yaQgU9-145&quot; target=&quot;huNNO2pCuBcXr_yaQgU9-66&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;pMXYhzgBW71XrXo-O7h1-60&quot; value=&quot;&amp;lt;div style=&amp;quot;text-align: left&amp;quot;&amp;gt;&amp;lt;font style=&amp;quot;font-size: 11px&amp;quot;&amp;gt;/api/external/set/command/remote/control&amp;amp;nbsp;&amp;lt;br&amp;gt;&amp;lt;/font&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div style=&amp;quot;text-align: left&amp;quot;&amp;gt;&amp;lt;font style=&amp;quot;font-size: 11px&amp;quot;&amp;gt;&amp;amp;nbsp; &amp;amp;nbsp;[tier4_external_api_msgs/msg/ControlCommandStamped]&amp;lt;/font&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div style=&amp;quot;text-align: left&amp;quot;&amp;gt;&amp;lt;font style=&amp;quot;font-size: 11px&amp;quot;&amp;gt;/api/external/set/command/remote/shift&amp;lt;/font&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div style=&amp;quot;text-align: left&amp;quot;&amp;gt;&amp;lt;font style=&amp;quot;font-size: 11px&amp;quot;&amp;gt;&amp;amp;nbsp; &amp;amp;nbsp;[tier4_external_api_msgs/msg/GearShiftStamped]&amp;lt;/font&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div style=&amp;quot;text-align: left&amp;quot;&amp;gt;&amp;lt;font style=&amp;quot;font-size: 11px&amp;quot;&amp;gt;/api/external/set/command/remote/turn_signal&amp;lt;/font&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div style=&amp;quot;text-align: left&amp;quot;&amp;gt;&amp;lt;font style=&amp;quot;font-size: 11px&amp;quot;&amp;gt;&amp;amp;nbsp; &amp;amp;nbsp;[tier4_external_api_msgs/msg/TurnSignalStamped]&amp;lt;/font&amp;gt;&amp;lt;/div&amp;gt;&quot; 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parent=&quot;huNNO2pCuBcXr_yaQgU9-74&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;415&quot; y=&quot;735&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;h2nIhsRq0HVOu7yzmkO7-153&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-74&quot; target=&quot;h2nIhsRq0HVOu7yzmkO7-135&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1005&quot; y=&quot;-122&quot; as=&quot;sourcePoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;h2nIhsRq0HVOu7yzmkO7-154&quot; value=&quot;external/traffic_signals&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-74&quot; connectable=&quot;0&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-955&quot; y=&quot;-131.00444444444435&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;object label=&quot;Sensing&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-89&quot;&gt;&#10;          &lt;mxCell style=&quot;&quot; parent=&quot;0&quot; /&gt;&#10;        &lt;/object&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-271&quot; value=&quot;&amp;lt;div&amp;gt;&amp;lt;b style=&amp;quot;&amp;quot;&amp;gt;Radar sensing pipeline&amp;lt;/b&amp;gt;&amp;lt;/div&amp;gt;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=none;strokeColor=#000000;verticalAlign=top;align=center;labelBackgroundColor=none;arcSize=3;movable=1;resizable=1;rotatable=1;deletable=1;editable=1;locked=0;connectable=1;dashed=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-2722&quot; y=&quot;-775&quot; width=&quot;190&quot; height=&quot;345&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-274&quot; value=&quot;&amp;lt;div&amp;gt;&amp;lt;b style=&amp;quot;&amp;quot;&amp;gt;Camera sensing pipeline&amp;lt;/b&amp;gt;&amp;lt;/div&amp;gt;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=none;strokeColor=#000000;verticalAlign=top;align=center;labelBackgroundColor=none;arcSize=3;movable=1;resizable=1;rotatable=1;deletable=1;editable=1;locked=0;connectable=1;dashed=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-2720&quot; y=&quot;-1040&quot; width=&quot;190&quot; height=&quot;205&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-130&quot; value=&quot;top/velodyne_packets&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-131&quot; target=&quot;F5SEpTDf39VAK2Lenjye-135&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;lidar_driver&quot; tooltip=&quot;velodyneのdriverです。VLP16, VLP32, VLS128, Livoxなどなど、たくさん種類があります。&quot; id=&quot;F5SEpTDf39VAK2Lenjye-131&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;strokeColor=#9673a6;fillColor=#e1d5e7;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2327&quot; y=&quot;-730&quot; width=&quot;120&quot; height=&quot;50&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-132&quot; value=&quot;top/rectified/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-133&quot; target=&quot;F5SEpTDf39VAK2Lenjye-140&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;fix_distortion&quot; tooltip=&quot;自車の回転によって生じたLiDAR点群の歪みを補正する。（リンクこれで合ってるっけ？）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/distortion-corrector.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-133&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2327&quot; y=&quot;-410&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-134&quot; value=&quot;top/pointcloud_raw&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-135&quot; target=&quot;F5SEpTDf39VAK2Lenjye-137&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-2267&quot; y=&quot;-560&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;packets_to_&amp;lt;br&amp;gt;pointcloud&quot; tooltip=&quot;velodyneのpacketをpointcloud型に変更する&quot; id=&quot;F5SEpTDf39VAK2Lenjye-135&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2327&quot; y=&quot;-620&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-136&quot; value=&quot;top/self_cropped/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-137&quot; target=&quot;F5SEpTDf39VAK2Lenjye-139&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_self&quot; tooltip=&quot;自車の領域内にある点群を除去する。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-137&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2327&quot; y=&quot;-550&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-138&quot; value=&quot;top/mirror_cropped/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; 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id=&quot;F5SEpTDf39VAK2Lenjye-144&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2497&quot; y=&quot;-410&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-145&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0 , 0 , 0) ; font-family: &amp;amp;#34;helvetica&amp;amp;#34; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none&amp;quot;&amp;gt;*/pointcloud_raw&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-146&quot; target=&quot;F5SEpTDf39VAK2Lenjye-148&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-2437&quot; y=&quot;-560&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;packets_to_&amp;lt;br&amp;gt;pointcloud&quot; tooltip=&quot;velodyneのpacketをpointcloud型に変更する&quot; id=&quot;F5SEpTDf39VAK2Lenjye-146&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2497&quot; y=&quot;-620&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-147&quot; 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-                        style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
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                         Planning
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+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
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+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #ffffff; ">
                       <div
-                        style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                        style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#ffffff, #121212); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
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                         Control
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                         Perception
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                         Vehicle
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@@ -1616,7 +2602,18 @@
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           <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_map_based_prediction">
             <g>
-              <rect x="1515" y="1561" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366" pointer-events="all">
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                 <title>高精度地図情報を用いて、trackingされた動物体情報の移動経路予測を行う</title>
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@@ -1624,14 +2621,14 @@
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                 <title>高精度地図情報を用いて、trackingされた動物体情報の移動経路予測を行う</title>
                 <switch>
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+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
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                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1581px; margin-left: 1516px;"
                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
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                           <br/>
@@ -1640,7 +2637,7 @@
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                     </div>
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-                  <text x="1575" y="1585" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">map_based_...</text>
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+            <path d="M 2220 861 L 2220 904.63" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
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+              d="M 2220 909.88 L 2216.5 902.88 L 2220 904.63 L 2223.5 902.88 Z"
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+              stroke="#000000"
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+            />
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           <g>
             <g transform="translate(-0.5 -0.5)">
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
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-                      <div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: nowrap;">
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+                      <div
+                        style="display: inline-block; font-size: 11px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: nowrap; "
+                      >
                         traffic_light_detection/rough/rois
                       </div>
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-                <text x="2220" y="889" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">traffic_light_detection/rough/rois</text>
+                <text x="2220" y="889" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">traffic_light_detection/rough/rois</text>
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@@ -1674,7 +2680,18 @@
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           <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_traffic_light_map_based_detector">
             <g>
-              <rect x="2160" y="821" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366" pointer-events="all">
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                 <title>自己位置および高精度地図情報、自身の走行ルート情報から、信号機のおおよその位置を計算する</title>
               </rect>
             </g>
@@ -1682,14 +2699,14 @@
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                 <title>自己位置および高精度地図情報、自身の走行ルート情報から、信号機のおおよその位置を計算する</title>
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
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                       xmlns="http://www.w3.org/1999/xhtml"
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                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
                           traffic_light_map_
                           <br/>
@@ -1698,7 +2715,7 @@
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                     </div>
                   </foreignObject>
-                  <text x="2220" y="845" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">traffic_light_map_...</text>
+                  <text x="2220" y="845" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">traffic_light_map_...</text>
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           <g>
             <g transform="translate(-0.5 -0.5)">
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                   <div
                     xmlns="http://www.w3.org/1999/xhtml"
                     style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1386px; margin-left: 1247px;"
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-                    <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
-                      <div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: nowrap;">objects</div>
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
+                      <div
+                        style="display: inline-block; font-size: 11px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: nowrap; "
+                      >
+                        objects
+                      </div>
                     </div>
                   </div>
                 </foreignObject>
-                <text x="1247" y="1389" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">objects</text>
+                <text x="1247" y="1389" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">objects</text>
               </switch>
             </g>
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@@ -1730,7 +2758,18 @@
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           <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_traffic_light_classifier">
             <g>
-              <rect x="2160" y="986" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366" pointer-events="all">
+              <rect
+                x="2160"
+                y="986"
+                width="120"
+                height="40"
+                rx="6"
+                ry="6"
+                fill="#d5e8d4"
+                stroke="#82b366"
+                pointer-events="all"
+                style="fill: light-dark(rgb(213, 232, 212), rgb(31, 47, 30)); stroke: light-dark(rgb(130, 179, 102), rgb(68, 110, 44));"
+              >
                 <title>画像に含まれる信号機の色を識別する</title>
               </rect>
             </g>
@@ -1738,23 +2777,23 @@
               <g transform="translate(-0.5 -0.5)">
                 <title>画像に含まれる信号機の色を識別する</title>
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1006px; margin-left: 2161px;"
                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
-                          <span style="background-color: rgb(251, 251, 251);">car/</span>
-                          <br style="border-color: var(--border-color); background-color: rgb(251, 251, 251);"/>
-                          <span style="background-color: rgb(251, 251, 251);">traffic_light_classifier</span>
+                          <span style="background-color: light-dark(rgb(251, 251, 251), rgb(21, 21, 21));">car/</span>
+                          <br style="border-color: var(--border-color); background-color: light-dark(rgb(251, 251, 251), rgb(21, 21, 21));"/>
+                          <span style="background-color: light-dark(rgb(251, 251, 251), rgb(21, 21, 21));">traffic_light_classifier</span>
                         </div>
                       </div>
                     </div>
                   </foreignObject>
-                  <text x="2220" y="1010" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">car/...</text>
+                  <text x="2220" y="1010" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">car/...</text>
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@@ -1763,7 +2802,18 @@
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           <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_traffic_light_fine_detector">
             <g>
-              <rect x="2160" y="911" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366" pointer-events="all">
+              <rect
+                x="2160"
+                y="911"
+                width="120"
+                height="40"
+                rx="6"
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+              >
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@@ -1771,14 +2821,14 @@
               <g transform="translate(-0.5 -0.5)">
                 <title>画像処理を用いて信号機の正確な位置を計算する</title>
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 931px; margin-left: 2161px;"
                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
                           traffic_light_
                           <br/>
@@ -1787,7 +2837,7 @@
                       </div>
                     </div>
                   </foreignObject>
-                  <text x="2220" y="935" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">traffic_light_...</text>
+                  <text x="2220" y="935" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">traffic_light_...</text>
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@@ -1795,20 +2845,27 @@
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         <g data-cell-id="F5SEpTDf39VAK2Lenjye-59">
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+            <path d="M 2220 691 L 2220 814.63" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path
+              d="M 2220 819.88 L 2216.5 812.88 L 2220 814.63 L 2223.5 812.88 Z"
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+              stroke="#000000"
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+              pointer-events="all"
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           <g>
             <g transform="translate(-0.5 -0.5)">
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
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                     xmlns="http://www.w3.org/1999/xhtml"
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-                    <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; background-color: #ffffff; ">
                       <div
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                         route,
                         <br/>
@@ -1817,21 +2874,39 @@
                     </div>
                   </div>
                 </foreignObject>
-                <text x="2220" y="739" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">route,...</text>
+                <text x="2220" y="739" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">route,...</text>
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           <g>
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+            <path d="M 1307 1445 L 1425 1445 L 1425 1317.37" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path
+              d="M 1425 1312.12 L 1428.5 1319.12 L 1425 1317.37 L 1421.5 1319.12 Z"
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+              stroke="#000000"
+              stroke-miterlimit="10"
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           </g>
         </g>
         <g data-cell-id="qDWy_0qvZc8UbF-aOlQ3-69">
           <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_object_merger">
             <g>
-              <rect x="1192" y="1200" width="110" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366" pointer-events="all">
+              <rect
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+                y="1200"
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+                height="40"
+                rx="6"
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                 <title>detection同士のassignmentを取り，confidenceが高い方を採用する．overlapしたunknown objectはmergeする</title>
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                           detection_by
                           <br style="border-color: var(--border-color); text-align: left;"/>
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@@ -2539,7 +3921,7 @@
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@@ -2548,7 +3930,18 @@
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@@ -2556,14 +3949,14 @@
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@@ -2572,7 +3965,7 @@
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@@ -2595,21 +4013,21 @@
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@@ -2670,40 +4127,65 @@
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+                        >
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                 <title>
                   This package can make clustered objects from radar DetectedObjects, the objects which is converted from RadarTracks by radar_tracks_msgs_converter and is processed by noise
                   filter. In other word, this package can combine multiple radar detections from one object into one and adjust class and size.
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                         </div>
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@@ -3041,14 +4650,14 @@
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@@ -3198,14 +4872,14 @@
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+                          style="display: inline-block; font-size: 11px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; background-color: light-dark(#ffffff, var(--ge-dark-color, #121212)); white-space: nowrap; "
                         >
                           behavior_planning/path
                         </div>
                       </div>
                     </div>
                   </foreignObject>
-                  <text x="2625" y="1279" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">behavior_planning/path</text>
+                  <text x="2626" y="1221" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">behavior_planning/path</text>
                 </switch>
               </g>
             </g>
@@ -4561,42 +6519,56 @@
           <g>
             <g transform="translate(-0.5 -0.5)">
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                   <div
                     xmlns="http://www.w3.org/1999/xhtml"
                     style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 78px; height: 1px; padding-top: 605px; margin-left: 2876px;"
                   >
-                    <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                       <div
-                        style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                        style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                       >&lt;Parking&gt;</div>
                     </div>
                   </div>
                 </foreignObject>
-                <text x="2915" y="609" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">&lt;Parking&gt;</text>
+                <text x="2915" y="609" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">&lt;Parking&gt;</text>
               </switch>
             </g>
           </g>
         </g>
         <g data-cell-id="7zbXjBYCwGQrjjLUvmJF-47">
           <g>
-            <path d="M 2825 695 L 2825 1645 L 2697.5 1645 L 2697.5 1668.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-            <path d="M 2697.5 1673.88 L 2694 1666.88 L 2697.5 1668.63 L 2701 1666.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+            <path
+              d="M 2825 695 L 2825 1645 L 2697.5 1645 L 2697.5 1668.63"
+              fill="none"
+              stroke="#000000"
+              stroke-miterlimit="10"
+              pointer-events="stroke"
+              style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"
+            />
+            <path
+              d="M 2697.5 1673.88 L 2694 1666.88 L 2697.5 1668.63 L 2701 1666.88 Z"
+              fill="#000000"
+              stroke="#000000"
+              stroke-miterlimit="10"
+              pointer-events="all"
+              style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"
+            />
           </g>
           <g>
             <g transform="translate(-0.5 -0.5)">
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                   <div
                     xmlns="http://www.w3.org/1999/xhtml"
                     style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1615px; margin-left: 2825px;"
                   >
-                    <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; background-color: #ffffff; ">
                       <div
-                        style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"
+                        style="display: inline-block; font-size: 11px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; background-color: light-dark(#ffffff, var(--ge-dark-color, #121212)); white-space: nowrap; "
                       >
                         <span
-                          style="color: rgb(0, 0, 0); font-family: helvetica; font-size: 11px; font-style: normal; font-weight: 400; letter-spacing: normal; text-align: center; text-indent: 0px; text-transform: none; word-spacing: 0px; background-color: rgb(255, 255, 255); display: inline; float: none;"
+                          style="color: light-dark(rgb(0, 0, 0), rgb(237, 237, 237)); font-family: helvetica; font-size: 11px; font-style: normal; font-weight: 400; letter-spacing: normal; text-align: center; text-indent: 0px; text-transform: none; word-spacing: 0px; background-color: light-dark(rgb(255, 255, 255), rgb(18, 18, 18)); display: inline; float: none;"
                         >
                           parking/trajectory [Trajectory]
                         </span>
@@ -4604,7 +6576,7 @@
                     </div>
                   </div>
                 </foreignObject>
-                <text x="2825" y="1618" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">parking/trajectory [Trajectory]</text>
+                <text x="2825" y="1618" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">parking/trajectory [Trajectory]</text>
               </switch>
             </g>
           </g>
@@ -4612,7 +6584,18 @@
         <g data-cell-id="K7M4AEPT0enKUQUD1kn6-43">
           <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/autoware_surround_obstacle_checker">
             <g>
-              <rect x="2173" y="1495" width="160" height="40" rx="6" ry="6" fill="#fff2cc" stroke="#d6b656" pointer-events="all">
+              <rect
+                x="2173"
+                y="1495"
+                width="160"
+                height="40"
+                rx="6"
+                ry="6"
+                fill="#fff2cc"
+                stroke="#d6b656"
+                pointer-events="all"
+                style="fill: light-dark(rgb(255, 242, 204), rgb(40, 29, 0)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"
+              >
                 <title>自車が停止しているときに、周囲の障害物を確認し、近くに障害物がいる場合は車両を発進させない。</title>
               </rect>
             </g>
@@ -4620,21 +6603,21 @@
               <g transform="translate(-0.5 -0.5)">
                 <title>自車が停止しているときに、周囲の障害物を確認し、近くに障害物がいる場合は車両を発進させない。</title>
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 158px; height: 1px; padding-top: 1515px; margin-left: 2174px;"
                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
                           surround_obstacle_checker
                         </div>
                       </div>
                     </div>
                   </foreignObject>
-                  <text x="2253" y="1519" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">surround_obstacle_checker</text>
+                  <text x="2253" y="1519" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">surround_obstacle_checker</text>
                 </switch>
               </g>
             </g>
@@ -4642,14 +6625,32 @@
         </g>
         <g data-cell-id="K7M4AEPT0enKUQUD1kn6-44">
           <g>
-            <path d="M 2253 1535 L 2253 1758.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-            <path d="M 2253 1763.88 L 2249.5 1756.88 L 2253 1758.63 L 2256.5 1756.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+            <path d="M 2253 1535 L 2253 1758.63" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path
+              d="M 2253 1763.88 L 2249.5 1756.88 L 2253 1758.63 L 2256.5 1756.88 Z"
+              fill="#000000"
+              stroke="#000000"
+              stroke-miterlimit="10"
+              pointer-events="all"
+              style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"
+            />
           </g>
         </g>
         <g data-cell-id="11">
           <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/behavior_path_planner">
             <g>
-              <rect x="2525" y="595" width="200" height="241" rx="30" ry="30" fill="#fff2cc" stroke="#d6b656" pointer-events="all">
+              <rect
+                x="2525"
+                y="595"
+                width="200"
+                height="279"
+                rx="30"
+                ry="30"
+                fill="#fff2cc"
+                stroke="#d6b656"
+                pointer-events="all"
+                style="fill: light-dark(rgb(255, 242, 204), rgb(40, 29, 0)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"
+              >
                 <title>交通ルールをもとに、経路上の最大速度を決定します。各モジュールは、自身の計算した最大速度と上段の結果を比較し、小さい速度を経路上に書き込みます。</title>
               </rect>
             </g>
@@ -4657,21 +6658,21 @@
               <g transform="translate(-0.5 -0.5)">
                 <title>交通ルールをもとに、経路上の最大速度を決定します。各モジュールは、自身の計算した最大速度と上段の結果を比較し、小さい速度を経路上に書き込みます。</title>
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe flex-start; justify-content: unsafe center; width: 198px; height: 1px; padding-top: 602px; margin-left: 2526px;"
                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
                           behavior_path_planner
                         </div>
                       </div>
                     </div>
                   </foreignObject>
-                  <text x="2625" y="614" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">behavior_path_planner</text>
+                  <text x="2625" y="614" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">behavior_path_planner</text>
                 </switch>
               </g>
             </g>
@@ -4679,7 +6680,18 @@
         </g>
         <g data-cell-id="14">
           <g>
-            <rect x="2565" y="793" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656" pointer-events="all">
+            <rect
+              x="2565"
+              y="827"
+              width="120"
+              height="30"
+              rx="4.5"
+              ry="4.5"
+              fill="#fff2cc"
+              stroke="#d6b656"
+              pointer-events="all"
+              style="fill: light-dark(rgb(255, 242, 204), rgb(40, 29, 0)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"
+            >
               <title>遠隔からの司令をもとに幅寄せを行います。</title>
             </rect>
           </g>
@@ -4687,28 +6699,39 @@
             <g transform="translate(-0.5 -0.5)">
               <title>遠隔からの司令をもとに幅寄せを行います。</title>
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                   <div
                     xmlns="http://www.w3.org/1999/xhtml"
-                    style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 808px; margin-left: 2566px;"
+                    style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 842px; margin-left: 2566px;"
                   >
-                    <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                       <div
-                        style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                        style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                       >
                         side_shift
                       </div>
                     </div>
                   </div>
                 </foreignObject>
-                <text x="2625" y="812" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">side_shift</text>
+                <text x="2625" y="846" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">side_shift</text>
               </switch>
             </g>
           </g>
         </g>
         <g data-cell-id="13">
           <g>
-            <rect x="2565" y="753" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656" pointer-events="all">
+            <rect
+              x="2544"
+              y="787"
+              width="162"
+              height="30"
+              rx="4.5"
+              ry="4.5"
+              fill="#fff2cc"
+              stroke="#d6b656"
+              pointer-events="all"
+              style="fill: light-dark(rgb(255, 242, 204), rgb(40, 29, 0)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"
+            >
               <title>ルート情報をもとに路肩への幅寄せ、路肩からの発進を行います。</title>
             </rect>
           </g>
@@ -4716,28 +6739,39 @@
             <g transform="translate(-0.5 -0.5)">
               <title>ルート情報をもとに路肩への幅寄せ、路肩からの発進を行います。</title>
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                   <div
                     xmlns="http://www.w3.org/1999/xhtml"
-                    style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 768px; margin-left: 2566px;"
+                    style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 160px; height: 1px; padding-top: 802px; margin-left: 2545px;"
                   >
-                    <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                       <div
-                        style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                        style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                       >
-                        pull_over/out
+                        start_planner/goal_planner
                       </div>
                     </div>
                   </div>
                 </foreignObject>
-                <text x="2625" y="772" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">pull_over/out</text>
+                <text x="2625" y="806" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">start_planner/goal_planner</text>
               </switch>
             </g>
           </g>
         </g>
         <g data-cell-id="12">
           <g>
-            <rect x="2565" y="713" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656" pointer-events="all">
+            <rect
+              x="2543"
+              y="710"
+              width="164"
+              height="30"
+              rx="4.5"
+              ry="4.5"
+              fill="#fff2cc"
+              stroke="#d6b656"
+              pointer-events="all"
+              style="fill: light-dark(rgb(255, 242, 204), rgb(40, 29, 0)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"
+            >
               <title>ルート情報や障害物情報をもとに、障害物回避を実行します。</title>
             </rect>
           </g>
@@ -4745,28 +6779,39 @@
             <g transform="translate(-0.5 -0.5)">
               <title>ルート情報や障害物情報をもとに、障害物回避を実行します。</title>
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                   <div
                     xmlns="http://www.w3.org/1999/xhtml"
-                    style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 728px; margin-left: 2566px;"
+                    style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 162px; height: 1px; padding-top: 725px; margin-left: 2544px;"
                   >
-                    <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                       <div
-                        style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                        style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                       >
-                        obstacle_avoidance
+                        static_obstacle_avoidance
                       </div>
                     </div>
                   </div>
                 </foreignObject>
-                <text x="2625" y="732" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">obstacle_avoidance</text>
+                <text x="2625" y="729" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">static_obstacle_avoidance</text>
               </switch>
             </g>
           </g>
         </g>
         <g data-cell-id="15">
           <g>
-            <rect x="2565" y="671" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656" pointer-events="all">
+            <rect
+              x="2565"
+              y="671"
+              width="120"
+              height="30"
+              rx="4.5"
+              ry="4.5"
+              fill="#fff2cc"
+              stroke="#d6b656"
+              pointer-events="all"
+              style="fill: light-dark(rgb(255, 242, 204), rgb(40, 29, 0)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"
+            >
               <title>ルート情報や障害物情報をもとに、レーンチェンジを実行します。</title>
             </rect>
           </g>
@@ -4774,28 +6819,39 @@
             <g transform="translate(-0.5 -0.5)">
               <title>ルート情報や障害物情報をもとに、レーンチェンジを実行します。</title>
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
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                     style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 686px; margin-left: 2566px;"
                   >
-                    <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                       <div
-                        style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                        style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                       >
                         lane_change
                       </div>
                     </div>
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-                <text x="2625" y="690" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">lane_change</text>
+                <text x="2625" y="690" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">lane_change</text>
               </switch>
             </g>
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           <g>
-            <rect x="2565" y="633" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656" pointer-events="all">
+            <rect
+              x="2565"
+              y="633"
+              width="120"
+              height="30"
+              rx="4.5"
+              ry="4.5"
+              fill="#fff2cc"
+              stroke="#d6b656"
+              pointer-events="all"
+              style="fill: light-dark(rgb(255, 242, 204), rgb(40, 29, 0)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"
+            >
               <title>ルート情報をもとに走行経路を作成します。</title>
             </rect>
           </g>
@@ -4803,21 +6859,21 @@
             <g transform="translate(-0.5 -0.5)">
               <title>ルート情報をもとに走行経路を作成します。</title>
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                   <div
                     xmlns="http://www.w3.org/1999/xhtml"
                     style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 648px; margin-left: 2566px;"
                   >
-                    <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                       <div
-                        style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                        style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                       >
                         lane_following
                       </div>
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                   </div>
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-                <text x="2625" y="652" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">lane_following</text>
+                <text x="2625" y="652" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">lane_following</text>
               </switch>
             </g>
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@@ -4825,7 +6881,18 @@
         <g data-cell-id="43">
           <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/autoware_planning_validator">
             <g>
-              <rect x="2607.5" y="1845" width="120" height="40" rx="6" ry="6" fill="#fff2cc" stroke="#d6b656" pointer-events="all">
+              <rect
+                x="2607.5"
+                y="1845"
+                width="120"
+                height="40"
+                rx="6"
+                ry="6"
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+                style="fill: light-dark(rgb(255, 242, 204), rgb(40, 29, 0)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"
+              >
                 <title>Check the trajectory and stop publishing it if it is unsafe.</title>
               </rect>
             </g>
@@ -4833,21 +6900,21 @@
               <g transform="translate(-0.5 -0.5)">
                 <title>Check the trajectory and stop publishing it if it is unsafe.</title>
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
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                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1865px; margin-left: 2609px;"
                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
                           planning_validator
                         </div>
                       </div>
                     </div>
                   </foreignObject>
-                  <text x="2668" y="1869" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">planning_validator</text>
+                  <text x="2668" y="1869" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">planning_validator</text>
                 </switch>
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@@ -4856,25 +6923,35 @@
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+              d="M 2675 874 L 2675 896 L 2822 896 C 2822 892.1 2828 892.1 2828 896 L 2828 896 L 3102 896 C 3102 892.1 3108 892.1 3108 896 L 3108 896 L 3148.63 896"
               fill="none"
-              stroke="rgb(0, 0, 0)"
+              stroke="#000000"
               stroke-miterlimit="10"
               pointer-events="stroke"
+              style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"
+            />
+            <path
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               <g transform="translate(-0.5 -0.5)">
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
-                      style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 1px; height: 1px; padding-top: 957px; margin-left: 2826px;"
+                      style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 1px; height: 1px; padding-top: 957px; margin-left: 2845px;"
                     >
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-                        <div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: nowrap;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: left; color: #000000; ">
+                        <div
+                          style="display: inline-block; font-size: 11px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: nowrap; "
+                        >
                           /planning/turn_indicators_cmd [TurnIndicatorsCommand]
                           <br/>
                           /planning/hazard_lights_cmd [HazardLightsCommand]
@@ -4882,7 +6959,7 @@
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-                  <text x="2826" y="960" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px">/planning/turn_indicators_cmd [TurnIndicatorsCommand]...</text>
+                  <text x="2845" y="960" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px">/planning/turn_indicators_cmd [TurnIndicatorsCommand]...</text>
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@@ -4890,28 +6967,35 @@
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             <g>
               <g transform="translate(-0.5 -0.5)">
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
-                      style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1373px; margin-left: 2628px;"
+                      style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1321px; margin-left: 2626px;"
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-                      <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; background-color: #ffffff; ">
                         <div
-                          style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"
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                           path_smoother/path
                         </div>
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-                  <text x="2628" y="1376" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">path_smoother/path</text>
+                  <text x="2626" y="1324" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">path_smoother/path</text>
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@@ -4920,7 +7004,18 @@
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           <a xlink:href="https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_path_smoother/">
             <g>
-              <rect x="2565" y="1315" width="120" height="40" rx="6" ry="6" fill="#fff2cc" stroke="#d6b656" pointer-events="all">
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                 <title>車両形状や走行可能領域を考慮して、経路の平滑化を行う。障害物も避けるが、long historyで最近は回避機能はoffになっています。</title>
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@@ -4928,21 +7023,21 @@
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                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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@@ -4950,19 +7045,30 @@
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-                    <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
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@@ -4971,27 +7077,42 @@
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+                <text x="2570" y="145" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">/default_ad_api/helpers/...</text>
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@@ -5007,28 +7128,43 @@
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+              stroke="#000000"
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+              pointer-events="all"
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                 <switch>
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+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
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                       xmlns="http://www.w3.org/1999/xhtml"
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+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; background-color: #ffffff; ">
                         <div
-                          style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"
+                          style="display: inline-block; font-size: 11px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; background-color: light-dark(#ffffff, var(--ge-dark-color, #121212)); white-space: nowrap; "
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@@ -5249,7 +7478,7 @@
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-                  <text x="2571" y="84" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">/rviz/routing/...</text>
+                  <text x="2571" y="84" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">/rviz/routing/...</text>
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+            <path d="M 2629 40 L 2629 114.63" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
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               <g transform="translate(-0.5 -0.5)">
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
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                       xmlns="http://www.w3.org/1999/xhtml"
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-                      <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; background-color: #ffffff; ">
                         <div
-                          style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"
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-                  <text x="2636" y="104" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">/rviz/routing/reroute</text>
+                  <text x="2636" y="104" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">/rviz/routing/reroute</text>
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@@ -5286,72 +7522,101 @@
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           <g>
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+              y="0"
+              width="199"
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+              rx="6"
+              ry="6"
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+              pointer-events="all"
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           <g>
             <g transform="translate(-0.5 -0.5)">
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                   <div
                     xmlns="http://www.w3.org/1999/xhtml"
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                   >
-                    <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                       <div
-                        style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                        style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
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                   </div>
                 </foreignObject>
-                <text x="2575" y="24" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">/rviz</text>
+                <text x="2575" y="24" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">/rviz</text>
               </switch>
             </g>
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           <g>
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+            <path d="M 4695 1290 L 4838.63 1290" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path
+              d="M 4843.88 1290 L 4836.88 1292.33 L 4838.63 1290 L 4836.88 1287.67 Z"
+              fill="#000000"
+              stroke="#000000"
+              stroke-miterlimit="10"
+              pointer-events="all"
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           <g>
             <g transform="translate(-0.5 -0.5)">
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                   <div
                     xmlns="http://www.w3.org/1999/xhtml"
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-                    <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; background-color: #ffffff; ">
                       <div
-                        style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"
+                        style="display: inline-block; font-size: 11px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; background-color: light-dark(#ffffff, var(--ge-dark-color, #121212)); white-space: nowrap; "
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-                <text x="4770" y="1293" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">/autoware/state</text>
+                <text x="4770" y="1293" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">/autoware/state</text>
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           <g>
-            <rect x="4575" y="1270" width="120" height="40" rx="6" ry="6" fill="#bac8d3" stroke="#23445d" pointer-events="all"/>
+            <rect
+              x="4575"
+              y="1270"
+              width="120"
+              height="40"
+              rx="6"
+              ry="6"
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+              pointer-events="all"
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             <g transform="translate(-0.5 -0.5)">
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
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                     xmlns="http://www.w3.org/1999/xhtml"
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-                    <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
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-                        style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                        style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                       >
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@@ -5360,7 +7625,7 @@
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+                <text x="4635" y="1294" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">/default_ad_api/node...</text>
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@@ -5372,47 +7637,54 @@
           <g>
             <g transform="translate(-0.5 -0.5)">
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
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                     xmlns="http://www.w3.org/1999/xhtml"
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-                    <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                       <div
-                        style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: nowrap;"
+                        style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: nowrap; "
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-                <text x="4635" y="1259" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">&lt;depricated&gt;</text>
+                <text x="4635" y="1259" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">&lt;depricated&gt;</text>
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+            <path d="M 2785 306 L 3078.63 306" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path
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+              style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"
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           </g>
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             <g>
               <g transform="translate(-0.5 -0.5)">
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
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-                      <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; background-color: #ffffff; ">
                         <div
-                          style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"
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-                  <text x="2892" y="308" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">/api/routing/state</text>
+                  <text x="2892" y="308" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">/api/routing/state</text>
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             <g>
-              <rect x="2631" y="1043" width="110" height="25" rx="3.75" ry="3.75" fill="#fff2cc" stroke="#d6b656" pointer-events="all">
+              <rect
+                x="2631"
+                y="1043"
+                width="110"
+                height="25"
+                rx="3.75"
+                ry="3.75"
+                fill="#fff2cc"
+                stroke="#d6b656"
+                pointer-events="all"
+                style="fill: light-dark(rgb(255, 242, 204), rgb(40, 29, 0)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"
+              >
                 <title>停止禁止区域内で停止しないように、区域手前での進行・停止判断を行います。</title>
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@@ -5432,28 +7715,39 @@
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                 <title>停止禁止区域内で停止しないように、区域手前での進行・停止判断を行います。</title>
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
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                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 108px; height: 1px; padding-top: 1056px; margin-left: 2632px;"
                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
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                         </div>
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                   </foreignObject>
-                  <text x="2686" y="1059" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">no_stopping_area</text>
+                  <text x="2686" y="1059" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">no_stopping_area</text>
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-              <rect x="2631" y="1012" width="110" height="25" rx="3.75" ry="3.75" fill="#fff2cc" stroke="#d6b656" pointer-events="all">
+              <rect
+                x="2631"
+                y="1012"
+                width="110"
+                height="25"
+                rx="3.75"
+                ry="3.75"
+                fill="#fff2cc"
+                stroke="#d6b656"
+                pointer-events="all"
+                style="fill: light-dark(rgb(255, 242, 204), rgb(40, 29, 0)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"
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                 <title>地図情報および動物体情報から、交差点での停止/発進の判定を行います。</title>
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@@ -5461,28 +7755,39 @@
               <g transform="translate(-0.5 -0.5)">
                 <title>地図情報および動物体情報から、交差点での停止/発進の判定を行います。</title>
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
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                       xmlns="http://www.w3.org/1999/xhtml"
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-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
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                     </div>
                   </foreignObject>
-                  <text x="2686" y="1028" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">intersection</text>
+                  <text x="2686" y="1028" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">intersection</text>
                 </switch>
               </g>
             </g>
           </g>
           <g data-cell-id="36">
             <g>
-              <rect x="2631" y="981" width="110" height="25" rx="3.75" ry="3.75" fill="#fff2cc" stroke="#d6b656" pointer-events="all">
+              <rect
+                x="2631"
+                y="981"
+                width="110"
+                height="25"
+                rx="3.75"
+                ry="3.75"
+                fill="#fff2cc"
+                stroke="#d6b656"
+                pointer-events="all"
+                style="fill: light-dark(rgb(255, 242, 204), rgb(40, 29, 0)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"
+              >
                 <title>信号の色に応じて停止/発進の指示をします</title>
               </rect>
             </g>
@@ -5490,28 +7795,39 @@
               <g transform="translate(-0.5 -0.5)">
                 <title>信号の色に応じて停止/発進の指示をします</title>
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 108px; height: 1px; padding-top: 994px; margin-left: 2632px;"
                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
                           traffic_light
                         </div>
                       </div>
                     </div>
                   </foreignObject>
-                  <text x="2686" y="997" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">traffic_light</text>
+                  <text x="2686" y="997" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">traffic_light</text>
                 </switch>
               </g>
             </g>
           </g>
           <g data-cell-id="38">
             <g>
-              <rect x="2631" y="950" width="110" height="25" rx="3.75" ry="3.75" fill="#fff2cc" stroke="#d6b656" pointer-events="all">
+              <rect
+                x="2631"
+                y="950"
+                width="110"
+                height="25"
+                rx="3.75"
+                ry="3.75"
+                fill="#fff2cc"
+                stroke="#d6b656"
+                pointer-events="all"
+                style="fill: light-dark(rgb(255, 242, 204), rgb(40, 29, 0)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"
+              >
                 <title>右左折時に車両後方の巻き込み確認を行い、衝突の危険がある場合は停止します。</title>
               </rect>
             </g>
@@ -5519,28 +7835,39 @@
               <g transform="translate(-0.5 -0.5)">
                 <title>右左折時に車両後方の巻き込み確認を行い、衝突の危険がある場合は停止します。</title>
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 108px; height: 1px; padding-top: 963px; margin-left: 2632px;"
                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
                           blind_spot
                         </div>
                       </div>
                     </div>
                   </foreignObject>
-                  <text x="2686" y="966" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">blind_spot</text>
+                  <text x="2686" y="966" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">blind_spot</text>
                 </switch>
               </g>
             </g>
           </g>
           <g data-cell-id="7zbXjBYCwGQrjjLUvmJF-41">
             <g>
-              <rect x="2631" y="1105" width="110" height="25" rx="3.75" ry="3.75" fill="#fff2cc" stroke="#d6b656" pointer-events="all">
+              <rect
+                x="2631"
+                y="1105"
+                width="110"
+                height="25"
+                rx="3.75"
+                ry="3.75"
+                fill="#fff2cc"
+                stroke="#d6b656"
+                pointer-events="all"
+                style="fill: light-dark(rgb(255, 242, 204), rgb(40, 29, 0)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"
+              >
                 <title>規定された停止線で一時停止を行います</title>
               </rect>
             </g>
@@ -5548,28 +7875,39 @@
               <g transform="translate(-0.5 -0.5)">
                 <title>規定された停止線で一時停止を行います</title>
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 108px; height: 1px; padding-top: 1118px; margin-left: 2632px;"
                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
                           no_drivable_lane
                         </div>
                       </div>
                     </div>
                   </foreignObject>
-                  <text x="2686" y="1121" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">no_drivable_lane</text>
+                  <text x="2686" y="1121" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">no_drivable_lane</text>
                 </switch>
               </g>
             </g>
           </g>
           <g data-cell-id="iM43lsEIwqhlJ7BxjptO-52">
             <g>
-              <rect x="2631" y="1074" width="110" height="25" rx="3.75" ry="3.75" fill="#fff2cc" stroke="#d6b656" pointer-events="all">
+              <rect
+                x="2631"
+                y="1074"
+                width="110"
+                height="25"
+                rx="3.75"
+                ry="3.75"
+                fill="#fff2cc"
+                stroke="#d6b656"
+                pointer-events="all"
+                style="fill: light-dark(rgb(255, 242, 204), rgb(40, 29, 0)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"
+              >
                 <title>規定された停止線で一時停止を行います</title>
               </rect>
             </g>
@@ -5577,28 +7915,39 @@
               <g transform="translate(-0.5 -0.5)">
                 <title>規定された停止線で一時停止を行います</title>
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 108px; height: 1px; padding-top: 1087px; margin-left: 2632px;"
                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
                           run_out
                         </div>
                       </div>
                     </div>
                   </foreignObject>
-                  <text x="2686" y="1090" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">run_out</text>
+                  <text x="2686" y="1090" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">run_out</text>
                 </switch>
               </g>
             </g>
           </g>
           <g data-cell-id="zEs4wxTr3dO1cdEekOQt-55">
             <g>
-              <rect x="2631" y="1136.46" width="110" height="25" rx="3.75" ry="3.75" fill="#fff2cc" stroke="#d6b656" pointer-events="all">
+              <rect
+                x="2631"
+                y="1136.46"
+                width="110"
+                height="25"
+                rx="3.75"
+                ry="3.75"
+                fill="#fff2cc"
+                stroke="#d6b656"
+                pointer-events="all"
+                style="fill: light-dark(rgb(255, 242, 204), rgb(40, 29, 0)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"
+              >
                 <title>規定された停止線で一時停止を行います</title>
               </rect>
             </g>
@@ -5606,21 +7955,21 @@
               <g transform="translate(-0.5 -0.5)">
                 <title>規定された停止線で一時停止を行います</title>
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 108px; height: 1px; padding-top: 1149px; margin-left: 2632px;"
                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
                           merge_from_private
                         </div>
                       </div>
                     </div>
                   </foreignObject>
-                  <text x="2686" y="1153" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">merge_from_private</text>
+                  <text x="2686" y="1153" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">merge_from_private</text>
                 </switch>
               </g>
             </g>
@@ -5628,7 +7977,19 @@
         </g>
         <g data-cell-id="34">
           <g>
-            <rect x="2512" y="1044" width="110" height="25" rx="3.75" ry="3.75" fill="#fff2cc" stroke="#d6b656" transform="translate(2567,0)scale(-1,1)translate(-2567,0)" pointer-events="all">
+            <rect
+              x="2512"
+              y="1044"
+              width="110"
+              height="25"
+              rx="3.75"
+              ry="3.75"
+              fill="#fff2cc"
+              stroke="#d6b656"
+              transform="translate(2567,0)scale(-1,1)translate(-2567,0)"
+              pointer-events="all"
+              style="fill: light-dark(rgb(255, 242, 204), rgb(40, 29, 0)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"
+            >
               <title>地図情報および動物体情報から、死角手前での減速を行います。</title>
             </rect>
           </g>
@@ -5636,28 +7997,40 @@
             <g transform="translate(-0.5 -0.5)">
               <title>地図情報および動物体情報から、死角手前での減速を行います。</title>
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                   <div
                     xmlns="http://www.w3.org/1999/xhtml"
                     style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 108px; height: 1px; padding-top: 1057px; margin-left: 2513px;"
                   >
-                    <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                       <div
-                        style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                        style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                       >
                         occlusion_spot
                       </div>
                     </div>
                   </div>
                 </foreignObject>
-                <text x="2567" y="1060" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">occlusion_spot</text>
+                <text x="2567" y="1060" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">occlusion_spot</text>
               </switch>
             </g>
           </g>
         </g>
         <g data-cell-id="37">
           <g>
-            <rect x="2512" y="983" width="110" height="25" rx="3.75" ry="3.75" fill="#fff2cc" stroke="#d6b656" transform="translate(2567,0)scale(-1,1)translate(-2567,0)" pointer-events="all">
+            <rect
+              x="2512"
+              y="983"
+              width="110"
+              height="25"
+              rx="3.75"
+              ry="3.75"
+              fill="#fff2cc"
+              stroke="#d6b656"
+              transform="translate(2567,0)scale(-1,1)translate(-2567,0)"
+              pointer-events="all"
+              style="fill: light-dark(rgb(255, 242, 204), rgb(40, 29, 0)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"
+            >
               <title>横断歩道に人が居る、もしくは侵入しようとしてきている場合に、横断歩道手前で停止します。近くに人が居る場合は徐行します。</title>
             </rect>
           </g>
@@ -5665,28 +8038,40 @@
             <g transform="translate(-0.5 -0.5)">
               <title>横断歩道に人が居る、もしくは侵入しようとしてきている場合に、横断歩道手前で停止します。近くに人が居る場合は徐行します。</title>
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                   <div
                     xmlns="http://www.w3.org/1999/xhtml"
                     style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 108px; height: 1px; padding-top: 996px; margin-left: 2513px;"
                   >
-                    <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                       <div
-                        style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                        style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                       >
                         cross_walk
                       </div>
                     </div>
                   </div>
                 </foreignObject>
-                <text x="2567" y="999" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">cross_walk</text>
+                <text x="2567" y="999" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">cross_walk</text>
               </switch>
             </g>
           </g>
         </g>
         <g data-cell-id="39">
           <g>
-            <rect x="2512" y="952" width="110" height="25" rx="3.75" ry="3.75" fill="#fff2cc" stroke="#d6b656" transform="translate(2567,0)scale(-1,1)translate(-2567,0)" pointer-events="all">
+            <rect
+              x="2512"
+              y="952"
+              width="110"
+              height="25"
+              rx="3.75"
+              ry="3.75"
+              fill="#fff2cc"
+              stroke="#d6b656"
+              transform="translate(2567,0)scale(-1,1)translate(-2567,0)"
+              pointer-events="all"
+              style="fill: light-dark(rgb(255, 242, 204), rgb(40, 29, 0)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"
+            >
               <title>規定エリア内の障害物点群がある場合に、対応する位置で停止します</title>
             </rect>
           </g>
@@ -5694,28 +8079,40 @@
             <g transform="translate(-0.5 -0.5)">
               <title>規定エリア内の障害物点群がある場合に、対応する位置で停止します</title>
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                   <div
                     xmlns="http://www.w3.org/1999/xhtml"
                     style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 108px; height: 1px; padding-top: 965px; margin-left: 2513px;"
                   >
-                    <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                       <div
-                        style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                        style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                       >
                         detection_area
                       </div>
                     </div>
                   </div>
                 </foreignObject>
-                <text x="2567" y="968" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">detection_area</text>
+                <text x="2567" y="968" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">detection_area</text>
               </switch>
             </g>
           </g>
         </g>
         <g data-cell-id="40">
           <g>
-            <rect x="2512" y="1075" width="110" height="25" rx="3.75" ry="3.75" fill="#fff2cc" stroke="#d6b656" transform="translate(2567,0)scale(-1,1)translate(-2567,0)" pointer-events="all">
+            <rect
+              x="2512"
+              y="1075"
+              width="110"
+              height="25"
+              rx="3.75"
+              ry="3.75"
+              fill="#fff2cc"
+              stroke="#d6b656"
+              transform="translate(2567,0)scale(-1,1)translate(-2567,0)"
+              pointer-events="all"
+              style="fill: light-dark(rgb(255, 242, 204), rgb(40, 29, 0)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"
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                           <br style="border-color: var(--border-color);"/>
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+                ry="6"
+                fill="#ffe6cc"
+                stroke="#d79b00"
+                pointer-events="all"
+                style="fill: light-dark(rgb(255, 230, 204), rgb(54, 33, 10)); stroke: light-dark(rgb(215, 155, 0), rgb(153, 101, 0));"
+              >
                 <title>経路追従のための目標ステア角とステア角速度を計算します。目標速度と加速度は経路に埋め込まれた値をそのまま出力します。</title>
               </rect>
             </g>
@@ -6161,21 +8779,21 @@
               <g transform="translate(-0.5 -0.5)">
                 <title>経路追従のための目標ステア角とステア角速度を計算します。目標速度と加速度は経路に埋め込まれた値をそのまま出力します。</title>
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 634px; margin-left: 3396px;"
                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
                           lateral_controller
                         </div>
                       </div>
                     </div>
                   </foreignObject>
-                  <text x="3455" y="638" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">lateral_controller</text>
+                  <text x="3455" y="638" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">lateral_controller</text>
                 </switch>
               </g>
             </g>
@@ -6184,7 +8802,18 @@
         <g data-cell-id="huNNO2pCuBcXr_yaQgU9-45">
           <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/autoware_pid_longitudinal_controller">
             <g>
-              <rect x="3545" y="614" width="160" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all">
+              <rect
+                x="3545"
+                y="614"
+                width="160"
+                height="40"
+                rx="6"
+                ry="6"
+                fill="#ffe6cc"
+                stroke="#d79b00"
+                pointer-events="all"
+                style="fill: light-dark(rgb(255, 230, 204), rgb(54, 33, 10)); stroke: light-dark(rgb(215, 155, 0), rgb(153, 101, 0));"
+              >
                 <title>経路の目標速度に沿うための目標加速度を計算します。遅延補正や停止時のブレーキ抜き操作も行います。</title>
               </rect>
             </g>
@@ -6192,21 +8821,21 @@
               <g transform="translate(-0.5 -0.5)">
                 <title>経路の目標速度に沿うための目標加速度を計算します。遅延補正や停止時のブレーキ抜き操作も行います。</title>
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 158px; height: 1px; padding-top: 634px; margin-left: 3546px;"
                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
                           longitudinal_controller
                         </div>
                       </div>
                     </div>
                   </foreignObject>
-                  <text x="3625" y="638" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">longitudinal_controller</text>
+                  <text x="3625" y="638" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">longitudinal_controller</text>
                 </switch>
               </g>
             </g>
@@ -6215,7 +8844,18 @@
         <g data-cell-id="huNNO2pCuBcXr_yaQgU9-66">
           <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/autoware_vehicle_cmd_gate">
             <g>
-              <rect x="3155" y="866" width="680" height="60" rx="9" ry="9" fill="#ffe6cc" stroke="#d79b00" pointer-events="all">
+              <rect
+                x="3155"
+                y="866"
+                width="680"
+                height="60"
+                rx="9"
+                ry="9"
+                fill="#ffe6cc"
+                stroke="#d79b00"
+                pointer-events="all"
+                style="fill: light-dark(rgb(255, 230, 204), rgb(54, 33, 10)); stroke: light-dark(rgb(215, 155, 0), rgb(153, 101, 0));"
+              >
                 <title>指示モードに応じて、複数のコマンドの中から後段に渡すコマンドを選択します。</title>
               </rect>
             </g>
@@ -6223,21 +8863,21 @@
               <g transform="translate(-0.5 -0.5)">
                 <title>指示モードに応じて、複数のコマンドの中から後段に渡すコマンドを選択します。</title>
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 678px; height: 1px; padding-top: 896px; margin-left: 3156px;"
                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
                           vehicle_cmd_gate
                         </div>
                       </div>
                     </div>
                   </foreignObject>
-                  <text x="3495" y="900" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">vehicle_cmd_gate</text>
+                  <text x="3495" y="900" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">vehicle_cmd_gate</text>
                 </switch>
               </g>
             </g>
@@ -6245,21 +8885,35 @@
         </g>
         <g data-cell-id="huNNO2pCuBcXr_yaQgU9-77">
           <g>
-            <path d="M 3400 1195 L 3401 1195 L 3400 1195 L 3400 1218.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-            <path d="M 3400 1223.88 L 3396.5 1216.88 L 3400 1218.63 L 3403.5 1216.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+            <path
+              d="M 3400 1195 L 3401 1195 L 3400 1195 L 3400 1218.63"
+              fill="none"
+              stroke="#000000"
+              stroke-miterlimit="10"
+              pointer-events="stroke"
+              style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"
+            />
+            <path
+              d="M 3400 1223.88 L 3396.5 1216.88 L 3400 1218.63 L 3403.5 1216.88 Z"
+              fill="#000000"
+              stroke="#000000"
+              stroke-miterlimit="10"
+              pointer-events="all"
+              style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"
+            />
           </g>
           <g data-cell-id="nmZh4Kjo_N_rVAYmAN_G-41">
             <g>
               <g transform="translate(-0.5 -0.5)">
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1070px; margin-left: 3401px;"
                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; background-color: #ffffff; ">
                         <div
-                          style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"
+                          style="display: inline-block; font-size: 11px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; background-color: light-dark(#ffffff, var(--ge-dark-color, #121212)); white-space: nowrap; "
                         >
                           control/command/control_cmd
                           <br/>
@@ -6268,7 +8922,7 @@
                       </div>
                     </div>
                   </foreignObject>
-                  <text x="3401" y="1073" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">control/command/control_cmd...</text>
+                  <text x="3401" y="1073" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">control/command/control_cmd...</text>
                 </switch>
               </g>
             </g>
@@ -6276,20 +8930,27 @@
         </g>
         <g data-cell-id="huNNO2pCuBcXr_yaQgU9-140">
           <g>
-            <path d="M 3390 760 L 3390 812.5 L 3390 858.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-            <path d="M 3390 863.88 L 3386.5 856.88 L 3390 858.63 L 3393.5 856.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+            <path d="M 3390 760 L 3390 812.5 L 3390 858.63" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path
+              d="M 3390 863.88 L 3386.5 856.88 L 3390 858.63 L 3393.5 856.88 Z"
+              fill="#000000"
+              stroke="#000000"
+              stroke-miterlimit="10"
+              pointer-events="all"
+              style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"
+            />
           </g>
           <g>
             <g transform="translate(-0.5 -0.5)">
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                   <div
                     xmlns="http://www.w3.org/1999/xhtml"
                     style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 813px; margin-left: 3391px;"
                   >
-                    <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; background-color: #ffffff; ">
                       <div
-                        style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"
+                        style="display: inline-block; font-size: 11px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; background-color: light-dark(#ffffff, var(--ge-dark-color, #121212)); white-space: nowrap; "
                       >
                         /control/shift_decider/gear_cmd
                         <br/>
@@ -6298,7 +8959,7 @@
                     </div>
                   </div>
                 </foreignObject>
-                <text x="3391" y="816" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">/control/shift_decider/gear_cmd...</text>
+                <text x="3391" y="816" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">/control/shift_decider/gear_cmd...</text>
               </switch>
             </g>
           </g>
@@ -6306,7 +8967,18 @@
         <g data-cell-id="huNNO2pCuBcXr_yaQgU9-137">
           <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/vehicle/autoware_external_cmd_converter">
             <g>
-              <rect x="3935" y="715" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all">
+              <rect
+                x="3935"
+                y="715"
+                width="120"
+                height="40"
+                rx="6"
+                ry="6"
+                fill="#ffe6cc"
+                stroke="#d79b00"
+                pointer-events="all"
+                style="fill: light-dark(rgb(255, 230, 204), rgb(54, 33, 10)); stroke: light-dark(rgb(215, 155, 0), rgb(153, 101, 0));"
+              >
                 <title>遠隔から来たコマンド（アクセル/ブレーキ）を目標速度/加速度の信号に変換します</title>
               </rect>
             </g>
@@ -6314,14 +8986,14 @@
               <g transform="translate(-0.5 -0.5)">
                 <title>遠隔から来たコマンド（アクセル/ブレーキ）を目標速度/加速度の信号に変換します</title>
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 735px; margin-left: 3936px;"
                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
                           external_cmd_
                           <br/>
@@ -6330,7 +9002,7 @@
                       </div>
                     </div>
                   </foreignObject>
-                  <text x="3995" y="739" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">external_cmd_...</text>
+                  <text x="3995" y="739" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">external_cmd_...</text>
                 </switch>
               </g>
             </g>
@@ -6338,20 +9010,27 @@
         </g>
         <g data-cell-id="huNNO2pCuBcXr_yaQgU9-147">
           <g>
-            <path d="M 3995 645 L 3995 708.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-            <path d="M 3995 713.88 L 3991.5 706.88 L 3995 708.63 L 3998.5 706.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+            <path d="M 3995 645 L 3995 708.63" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path
+              d="M 3995 713.88 L 3991.5 706.88 L 3995 708.63 L 3998.5 706.88 Z"
+              fill="#000000"
+              stroke="#000000"
+              stroke-miterlimit="10"
+              pointer-events="all"
+              style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"
+            />
           </g>
           <g>
             <g transform="translate(-0.5 -0.5)">
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                   <div
                     xmlns="http://www.w3.org/1999/xhtml"
                     style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 680px; margin-left: 3995px;"
                   >
-                    <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; background-color: #ffffff; ">
                       <div
-                        style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"
+                        style="display: inline-block; font-size: 11px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; background-color: light-dark(#ffffff, var(--ge-dark-color, #121212)); white-space: nowrap; "
                       >
                         /external/selected/external_control_cmd
                         <br/>
@@ -6360,7 +9039,7 @@
                     </div>
                   </div>
                 </foreignObject>
-                <text x="3995" y="683" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">/external/selected/external_control_cmd...</text>
+                <text x="3995" y="683" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">/external/selected/external_control_cmd...</text>
               </switch>
             </g>
           </g>
@@ -6368,19 +9047,30 @@
         <g data-cell-id="huNNO2pCuBcXr_yaQgU9-145">
           <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/autoware_external_cmd_selector">
             <g>
-              <rect x="3935" y="605" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"/>
+              <rect
+                x="3935"
+                y="605"
+                width="120"
+                height="40"
+                rx="6"
+                ry="6"
+                fill="#ffe6cc"
+                stroke="#d79b00"
+                pointer-events="all"
+                style="fill: light-dark(rgb(255, 230, 204), rgb(54, 33, 10)); stroke: light-dark(rgb(215, 155, 0), rgb(153, 101, 0));"
+              />
             </g>
             <g>
               <g transform="translate(-0.5 -0.5)">
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 625px; margin-left: 3936px;"
                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
                           external_cmd_
                           <br/>
@@ -6389,7 +9079,7 @@
                       </div>
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                       <div
-                        style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                        style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                       >
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                         <br/>
@@ -7146,34 +10119,41 @@
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-                <text x="788" y="784" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">packets_to_...</text>
+                <text x="788" y="784" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">packets_to_...</text>
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+            <path d="M 788 865 L 788 898.63" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
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           <g>
             <g transform="translate(-0.5 -0.5)">
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
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                     xmlns="http://www.w3.org/1999/xhtml"
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-                    <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
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                       <div
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                       >
                         top/self_cropped/pointcloud
                       </div>
                     </div>
                   </div>
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-                <text x="788" y="888" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">top/self_cropped/pointcloud</text>
+                <text x="788" y="888" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">top/self_cropped/pointcloud</text>
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@@ -7181,7 +10161,18 @@
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+                rx="4.5"
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@@ -7189,14 +10180,14 @@
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                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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                       xmlns="http://www.w3.org/1999/xhtml"
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-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
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-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
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@@ -7205,7 +10196,7 @@
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+              pointer-events="all"
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           </g>
           <g>
             <g transform="translate(-0.5 -0.5)">
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
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                     xmlns="http://www.w3.org/1999/xhtml"
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-                    <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; background-color: #ffffff; ">
                       <div
-                        style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"
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                       </div>
                     </div>
                   </div>
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+                <text x="788" y="958" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">top/mirror_cropped/pointcloud</text>
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@@ -7241,7 +10239,18 @@
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           <a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md">
             <g>
-              <rect x="728" y="905" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6" pointer-events="all">
+              <rect
+                x="728"
+                y="905"
+                width="120"
+                height="30"
+                rx="4.5"
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@@ -7249,14 +10258,14 @@
               <g transform="translate(-0.5 -0.5)">
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                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
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                       xmlns="http://www.w3.org/1999/xhtml"
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-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
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-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
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@@ -7265,7 +10274,7 @@
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-                  <text x="788" y="924" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">crop_box_...</text>
+                  <text x="788" y="924" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">crop_box_...</text>
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@@ -7274,7 +10283,18 @@
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             <g>
-              <rect x="728" y="1045" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6" pointer-events="all">
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+                y="1045"
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                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
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-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
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             <g transform="translate(-0.5 -0.5)">
               <switch>
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+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
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+              stroke-miterlimit="10"
+              pointer-events="all"
+              style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"
+            />
           </g>
           <g>
             <g transform="translate(-0.5 -0.5)">
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                   <div
                     xmlns="http://www.w3.org/1999/xhtml"
                     style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1025px; margin-left: 618px;"
                   >
-                    <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; background-color: #ffffff; ">
                       <div
-                        style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"
+                        style="display: inline-block; font-size: 11px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; background-color: light-dark(#ffffff, var(--ge-dark-color, #121212)); white-space: nowrap; "
                       >
                         <span
-                          style="color: rgb(0 , 0 , 0) ; font-family: &quot;helvetica&quot; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none"
+                          style="color: light-dark(rgb(0, 0, 0), rgb(237, 237, 237)); font-family: helvetica; font-size: 11px; font-style: normal; font-weight: 400; letter-spacing: normal; text-align: center; text-indent: 0px; text-transform: none; word-spacing: 0px; background-color: light-dark(rgb(255, 255, 255), rgb(18, 18, 18)); display: inline; float: none;"
                         >
                           */rectified/pointcloud
                         </span>
@@ -7383,7 +10428,7 @@
                     </div>
                   </div>
                 </foreignObject>
-                <text x="618" y="1028" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">*/rectified/pointcloud</text>
+                <text x="618" y="1028" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">*/rectified/pointcloud</text>
               </switch>
             </g>
           </g>
@@ -7391,7 +10436,18 @@
         <g data-cell-id="F5SEpTDf39VAK2Lenjye-144">
           <a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/distortion-corrector.md">
             <g>
-              <rect x="558" y="975" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6" pointer-events="all">
+              <rect
+                x="558"
+                y="975"
+                width="120"
+                height="30"
+                rx="4.5"
+                ry="4.5"
+                fill="#e1d5e7"
+                stroke="#9673a6"
+                pointer-events="all"
+                style="fill: light-dark(rgb(225, 213, 231), rgb(57, 47, 63)); stroke: light-dark(rgb(150, 115, 166), rgb(149, 119, 163));"
+              >
                 <title>自車の回転によって生じたLiDAR点群の歪みを補正する。（リンクこれで合ってるっけ？）</title>
               </rect>
             </g>
@@ -7399,21 +10455,21 @@
               <g transform="translate(-0.5 -0.5)">
                 <title>自車の回転によって生じたLiDAR点群の歪みを補正する。（リンクこれで合ってるっけ？）</title>
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 990px; margin-left: 559px;"
                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
                           fix_distortion
                         </div>
                       </div>
                     </div>
                   </foreignObject>
-                  <text x="618" y="994" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">fix_distortion</text>
+                  <text x="618" y="994" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">fix_distortion</text>
                 </switch>
               </g>
             </g>
@@ -7421,23 +10477,30 @@
         </g>
         <g data-cell-id="F5SEpTDf39VAK2Lenjye-145">
           <g>
-            <path d="M 618 795 L 618 828.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-            <path d="M 618 833.88 L 614.5 826.88 L 618 828.63 L 621.5 826.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+            <path d="M 618 795 L 618 828.63" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path
+              d="M 618 833.88 L 614.5 826.88 L 618 828.63 L 621.5 826.88 Z"
+              fill="#000000"
+              stroke="#000000"
+              stroke-miterlimit="10"
+              pointer-events="all"
+              style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"
+            />
           </g>
           <g>
             <g transform="translate(-0.5 -0.5)">
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                   <div
                     xmlns="http://www.w3.org/1999/xhtml"
                     style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 815px; margin-left: 618px;"
                   >
-                    <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; background-color: #ffffff; ">
                       <div
-                        style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"
+                        style="display: inline-block; font-size: 11px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; background-color: light-dark(#ffffff, var(--ge-dark-color, #121212)); white-space: nowrap; "
                       >
                         <span
-                          style="color: rgb(0 , 0 , 0) ; font-family: &quot;helvetica&quot; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none"
+                          style="color: light-dark(rgb(0, 0, 0), rgb(237, 237, 237)); font-family: helvetica; font-size: 11px; font-style: normal; font-weight: 400; letter-spacing: normal; text-align: center; text-indent: 0px; text-transform: none; word-spacing: 0px; background-color: light-dark(rgb(255, 255, 255), rgb(18, 18, 18)); display: inline; float: none;"
                         >
                           */pointcloud_raw
                         </span>
@@ -7445,14 +10508,25 @@
                     </div>
                   </div>
                 </foreignObject>
-                <text x="618" y="818" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">*/pointcloud_raw</text>
+                <text x="618" y="818" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">*/pointcloud_raw</text>
               </switch>
             </g>
           </g>
         </g>
         <g data-cell-id="F5SEpTDf39VAK2Lenjye-146">
           <g>
-            <rect x="558" y="765" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6" pointer-events="all">
+            <rect
+              x="558"
+              y="765"
+              width="120"
+              height="30"
+              rx="4.5"
+              ry="4.5"
+              fill="#e1d5e7"
+              stroke="#9673a6"
+              pointer-events="all"
+              style="fill: light-dark(rgb(225, 213, 231), rgb(57, 47, 63)); stroke: light-dark(rgb(150, 115, 166), rgb(149, 119, 163));"
+            >
               <title>velodyneのpacketをpointcloud型に変更する</title>
             </rect>
           </g>
@@ -7460,14 +10534,14 @@
             <g transform="translate(-0.5 -0.5)">
               <title>velodyneのpacketをpointcloud型に変更する</title>
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                   <div
                     xmlns="http://www.w3.org/1999/xhtml"
                     style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 780px; margin-left: 559px;"
                   >
-                    <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                       <div
-                        style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                        style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                       >
                         packets_to_
                         <br/>
@@ -7476,30 +10550,37 @@
                     </div>
                   </div>
                 </foreignObject>
-                <text x="618" y="784" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">packets_to_...</text>
+                <text x="618" y="784" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">packets_to_...</text>
               </switch>
             </g>
           </g>
         </g>
         <g data-cell-id="F5SEpTDf39VAK2Lenjye-147">
           <g>
-            <path d="M 618 865 L 618 898.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-            <path d="M 618 903.88 L 614.5 896.88 L 618 898.63 L 621.5 896.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+            <path d="M 618 865 L 618 898.63" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path
+              d="M 618 903.88 L 614.5 896.88 L 618 898.63 L 621.5 896.88 Z"
+              fill="#000000"
+              stroke="#000000"
+              stroke-miterlimit="10"
+              pointer-events="all"
+              style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"
+            />
           </g>
           <g>
             <g transform="translate(-0.5 -0.5)">
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                   <div
                     xmlns="http://www.w3.org/1999/xhtml"
                     style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 885px; margin-left: 618px;"
                   >
-                    <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; background-color: #ffffff; ">
                       <div
-                        style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"
+                        style="display: inline-block; font-size: 11px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; background-color: light-dark(#ffffff, var(--ge-dark-color, #121212)); white-space: nowrap; "
                       >
                         <span
-                          style="color: rgb(0 , 0 , 0) ; font-family: &quot;helvetica&quot; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none"
+                          style="color: light-dark(rgb(0, 0, 0), rgb(237, 237, 237)); font-family: helvetica; font-size: 11px; font-style: normal; font-weight: 400; letter-spacing: normal; text-align: center; text-indent: 0px; text-transform: none; word-spacing: 0px; background-color: light-dark(rgb(255, 255, 255), rgb(18, 18, 18)); display: inline; float: none;"
                         >
                           */self_cropped/pointcloud
                         </span>
@@ -7507,7 +10588,7 @@
                     </div>
                   </div>
                 </foreignObject>
-                <text x="618" y="888" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">*/self_cropped/pointcloud</text>
+                <text x="618" y="888" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">*/self_cropped/pointcloud</text>
               </switch>
             </g>
           </g>
@@ -7515,7 +10596,18 @@
         <g data-cell-id="F5SEpTDf39VAK2Lenjye-148">
           <a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md">
             <g>
-              <rect x="558" y="835" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6" pointer-events="all">
+              <rect
+                x="558"
+                y="835"
+                width="120"
+                height="30"
+                rx="4.5"
+                ry="4.5"
+                fill="#e1d5e7"
+                stroke="#9673a6"
+                pointer-events="all"
+                style="fill: light-dark(rgb(225, 213, 231), rgb(57, 47, 63)); stroke: light-dark(rgb(150, 115, 166), rgb(149, 119, 163));"
+              >
                 <title>自車の領域内にある点群を除去する。</title>
               </rect>
             </g>
@@ -7523,14 +10615,14 @@
               <g transform="translate(-0.5 -0.5)">
                 <title>自車の領域内にある点群を除去する。</title>
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 850px; margin-left: 559px;"
                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
                           crop_box_
                           <br/>
@@ -7539,7 +10631,7 @@
                       </div>
                     </div>
                   </foreignObject>
-                  <text x="618" y="854" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">crop_box_...</text>
+                  <text x="618" y="854" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">crop_box_...</text>
                 </switch>
               </g>
             </g>
@@ -7547,23 +10639,30 @@
         </g>
         <g data-cell-id="F5SEpTDf39VAK2Lenjye-149">
           <g>
-            <path d="M 618 935 L 618 968.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-            <path d="M 618 973.88 L 614.5 966.88 L 618 968.63 L 621.5 966.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+            <path d="M 618 935 L 618 968.63" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path
+              d="M 618 973.88 L 614.5 966.88 L 618 968.63 L 621.5 966.88 Z"
+              fill="#000000"
+              stroke="#000000"
+              stroke-miterlimit="10"
+              pointer-events="all"
+              style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"
+            />
           </g>
           <g>
             <g transform="translate(-0.5 -0.5)">
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                   <div
                     xmlns="http://www.w3.org/1999/xhtml"
                     style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 955px; margin-left: 618px;"
                   >
-                    <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; background-color: #ffffff; ">
                       <div
-                        style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"
+                        style="display: inline-block; font-size: 11px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; background-color: light-dark(#ffffff, var(--ge-dark-color, #121212)); white-space: nowrap; "
                       >
                         <span
-                          style="color: rgb(0 , 0 , 0) ; font-family: &quot;helvetica&quot; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none"
+                          style="color: light-dark(rgb(0, 0, 0), rgb(237, 237, 237)); font-family: helvetica; font-size: 11px; font-style: normal; font-weight: 400; letter-spacing: normal; text-align: center; text-indent: 0px; text-transform: none; word-spacing: 0px; background-color: light-dark(rgb(255, 255, 255), rgb(18, 18, 18)); display: inline; float: none;"
                         >
                           */mirror_cropped/pointcloud
                         </span>
@@ -7571,7 +10670,7 @@
                     </div>
                   </div>
                 </foreignObject>
-                <text x="618" y="958" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">*/mirror_cropped/pointcloud</text>
+                <text x="618" y="958" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">*/mirror_cropped/pointcloud</text>
               </switch>
             </g>
           </g>
@@ -7579,7 +10678,18 @@
         <g data-cell-id="F5SEpTDf39VAK2Lenjye-150">
           <a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md">
             <g>
-              <rect x="558" y="905" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6" pointer-events="all">
+              <rect
+                x="558"
+                y="905"
+                width="120"
+                height="30"
+                rx="4.5"
+                ry="4.5"
+                fill="#e1d5e7"
+                stroke="#9673a6"
+                pointer-events="all"
+                style="fill: light-dark(rgb(225, 213, 231), rgb(57, 47, 63)); stroke: light-dark(rgb(150, 115, 166), rgb(149, 119, 163));"
+              >
                 <title>自車のサイドミラーの部分に当たった点群を除去する</title>
               </rect>
             </g>
@@ -7587,14 +10697,14 @@
               <g transform="translate(-0.5 -0.5)">
                 <title>自車のサイドミラーの部分に当たった点群を除去する</title>
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 920px; margin-left: 559px;"
                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
                           crop_box_
                           <br/>
@@ -7603,7 +10713,7 @@
                       </div>
                     </div>
                   </foreignObject>
-                  <text x="618" y="924" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">crop_box_...</text>
+                  <text x="618" y="924" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">crop_box_...</text>
                 </switch>
               </g>
             </g>
@@ -7612,7 +10722,18 @@
         <g data-cell-id="F5SEpTDf39VAK2Lenjye-151">
           <a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md">
             <g>
-              <rect x="558" y="1045" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6" pointer-events="all">
+              <rect
+                x="558"
+                y="1045"
+                width="120"
+                height="30"
+                rx="4.5"
+                ry="4.5"
+                fill="#e1d5e7"
+                stroke="#9673a6"
+                pointer-events="all"
+                style="fill: light-dark(rgb(225, 213, 231), rgb(57, 47, 63)); stroke: light-dark(rgb(150, 115, 166), rgb(149, 119, 163));"
+              >
                 <title>点群のノイズ処理を行う&#xa;（同一リングから得られたLiDARの点をクラスタリングし、点群数の少ないクラスタに属する点群はノイズとして除去される）</title>
               </rect>
             </g>
@@ -7620,21 +10741,21 @@
               <g transform="translate(-0.5 -0.5)">
                 <title>点群のノイズ処理を行う&#xa;（同一リングから得られたLiDARの点をクラスタリングし、点群数の少ないクラスタに属する点群はノイズとして除去される）</title>
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
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                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
                           ring_outlier_filter
                         </div>
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                   </foreignObject>
-                  <text x="618" y="1064" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">ring_outlier_filter</text>
+                  <text x="618" y="1064" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">ring_outlier_filter</text>
                 </switch>
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@@ -7642,20 +10763,34 @@
         </g>
         <g data-cell-id="F5SEpTDf39VAK2Lenjye-120">
           <g>
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+            <path
+              d="M 688 1155 L 688 1238 L 710 1238 L 710 1478.63"
+              fill="none"
+              stroke="#000000"
+              stroke-miterlimit="10"
+              pointer-events="stroke"
+              style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"
+            />
+            <path
+              d="M 710 1483.88 L 706.5 1476.88 L 710 1478.63 L 713.5 1476.88 Z"
+              fill="#000000"
+              stroke="#000000"
+              stroke-miterlimit="10"
+              pointer-events="all"
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+            />
           </g>
           <g>
             <g transform="translate(-0.5 -0.5)">
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                   <div
                     xmlns="http://www.w3.org/1999/xhtml"
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-                    <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; background-color: #ffffff; ">
                       <div
-                        style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"
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                         /sensing/lidar
                         <br/>
@@ -7664,7 +10799,7 @@
                     </div>
                   </div>
                 </foreignObject>
-                <text x="710" y="1306" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">/sensing/lidar...</text>
+                <text x="710" y="1306" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">/sensing/lidar...</text>
               </switch>
             </g>
           </g>
@@ -7672,7 +10807,18 @@
         <g data-cell-id="F5SEpTDf39VAK2Lenjye-89">
           <a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/concatenate-data.md">
             <g>
-              <rect x="628" y="1115" width="120" height="40" rx="6" ry="6" fill="#e1d5e7" stroke="#9673a6" pointer-events="all">
+              <rect
+                x="628"
+                y="1115"
+                width="120"
+                height="40"
+                rx="6"
+                ry="6"
+                fill="#e1d5e7"
+                stroke="#9673a6"
+                pointer-events="all"
+                style="fill: light-dark(rgb(225, 213, 231), rgb(57, 47, 63)); stroke: light-dark(rgb(150, 115, 166), rgb(149, 119, 163));"
+              >
                 <title>複数のLiDAR点群をまとめて1つにする</title>
               </rect>
             </g>
@@ -7680,21 +10826,21 @@
               <g transform="translate(-0.5 -0.5)">
                 <title>複数のLiDAR点群をまとめて1つにする</title>
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1135px; margin-left: 629px;"
                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
                           concat_filter
                         </div>
                       </div>
                     </div>
                   </foreignObject>
-                  <text x="688" y="1139" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">concat_filter</text>
+                  <text x="688" y="1139" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">concat_filter</text>
                 </switch>
               </g>
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@@ -7702,20 +10848,59 @@
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         <g data-cell-id="F5SEpTDf39VAK2Lenjye-117">
           <g>
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+            <path
+              d="M 618 1075 L 618 1095 L 688 1095 L 688 1108.63"
+              fill="none"
+              stroke="#000000"
+              stroke-miterlimit="10"
+              pointer-events="stroke"
+              style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"
+            />
+            <path
+              d="M 688 1113.88 L 684.5 1106.88 L 688 1108.63 L 691.5 1106.88 Z"
+              fill="#000000"
+              stroke="#000000"
+              stroke-miterlimit="10"
+              pointer-events="all"
+              style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"
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           </g>
         </g>
         <g data-cell-id="F5SEpTDf39VAK2Lenjye-118">
           <g>
-            <path d="M 768 1075 L 768 1095 L 688 1095 L 688 1108.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
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+            <path
+              d="M 768 1075 L 768 1095 L 688 1095 L 688 1108.63"
+              fill="none"
+              stroke="#000000"
+              stroke-miterlimit="10"
+              pointer-events="stroke"
+              style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"
+            />
+            <path
+              d="M 688 1113.88 L 684.5 1106.88 L 688 1108.63 L 691.5 1106.88 Z"
+              fill="#000000"
+              stroke="#000000"
+              stroke-miterlimit="10"
+              pointer-events="all"
+              style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"
+            />
           </g>
         </g>
         <g data-cell-id="F5SEpTDf39VAK2Lenjye-115">
           <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/gnss_poser">
             <g>
-              <rect x="368" y="1205" width="120" height="40" rx="6" ry="6" fill="#e1d5e7" stroke="#9673a6" pointer-events="all">
+              <rect
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+                y="1205"
+                width="120"
+                height="40"
+                rx="6"
+                ry="6"
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+                style="fill: light-dark(rgb(225, 213, 231), rgb(57, 47, 63)); stroke: light-dark(rgb(150, 115, 166), rgb(149, 119, 163));"
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                 <title>MGRS座標系への変換</title>
               </rect>
             </g>
@@ -7723,21 +10908,21 @@
               <g transform="translate(-0.5 -0.5)">
                 <title>MGRS座標系への変換</title>
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1225px; margin-left: 369px;"
                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
                           gnss_poser
                         </div>
                       </div>
                     </div>
                   </foreignObject>
-                  <text x="428" y="1229" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">gnss_poser</text>
+                  <text x="428" y="1229" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">gnss_poser</text>
                 </switch>
               </g>
             </g>
@@ -7745,13 +10930,31 @@
         </g>
         <g data-cell-id="F5SEpTDf39VAK2Lenjye-116">
           <g>
-            <path d="M 428 1155 L 428 1198.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
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+            <path d="M 428 1155 L 428 1198.63" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path
+              d="M 428 1203.88 L 424.5 1196.88 L 428 1198.63 L 431.5 1196.88 Z"
+              fill="#000000"
+              stroke="#000000"
+              stroke-miterlimit="10"
+              pointer-events="all"
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           </g>
         </g>
         <g data-cell-id="huNNO2pCuBcXr_yaQgU9-110">
           <g>
-            <rect x="368" y="1115" width="120" height="40" rx="6" ry="6" fill="#e1d5e7" stroke="#9673a6" pointer-events="all">
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+              width="120"
+              height="40"
+              rx="6"
+              ry="6"
+              fill="#e1d5e7"
+              stroke="#9673a6"
+              pointer-events="all"
+              style="fill: light-dark(rgb(225, 213, 231), rgb(57, 47, 63)); stroke: light-dark(rgb(150, 115, 166), rgb(149, 119, 163));"
+            >
               <title>gnssのdriverです</title>
             </rect>
           </g>
@@ -7759,28 +10962,39 @@
             <g transform="translate(-0.5 -0.5)">
               <title>gnssのdriverです</title>
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
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-                    <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
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                       <div
-                        style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
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                       >
                         gnss_driver
                       </div>
                     </div>
                   </div>
                 </foreignObject>
-                <text x="428" y="1139" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">gnss_driver</text>
+                <text x="428" y="1139" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">gnss_driver</text>
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           <g>
-            <rect x="829" y="1225" width="120" height="40" rx="6" ry="6" fill="#e1d5e7" stroke="#9673a6" pointer-events="all">
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+              style="fill: light-dark(rgb(225, 213, 231), rgb(57, 47, 63)); stroke: light-dark(rgb(150, 115, 166), rgb(149, 119, 163));"
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               <title>imuのdriverです</title>
             </rect>
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@@ -7788,68 +11002,82 @@
             <g transform="translate(-0.5 -0.5)">
               <title>imuのdriverです</title>
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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-                    <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
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                       <div
-                        style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
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                         imu_driver
                       </div>
                     </div>
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-                <text x="889" y="1249" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">imu_driver</text>
+                <text x="889" y="1249" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">imu_driver</text>
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                         <div
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               <title>車両速度とimuを統合する。いまは確か、ただ単にvx=vehicle, wz=imuだった気がする。</title>
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@@ -8781,14 +12315,14 @@
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               <title>車両速度とimuを統合する。いまは確か、ただ単にvx=vehicle, wz=imuだった気がする。</title>
               <switch>
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-                        style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
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                         <br/>
@@ -8797,7 +12331,7 @@
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-                <text x="1013" y="1484" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">vehicle_velocity_...</text>
+                <text x="1013" y="1484" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">vehicle_velocity_...</text>
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@@ -8805,7 +12339,18 @@
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                 <title>Estimate ego vehicle's position, orientation, and velocity by EKF algorithm.</title>
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@@ -8813,21 +12358,21 @@
               <g transform="translate(-0.5 -0.5)">
                 <title>Estimate ego vehicle's position, orientation, and velocity by EKF algorithm.</title>
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-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
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                         >
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-                  <text x="711" y="1549" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">measurement_range/pointcloud</text>
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+              rx="6"
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+            >
               <title>一定範囲内のLiDAR点群のみを切り取って出力する。ホントは遠くまで見たいけど、歪みの影響が大きくなったり、そもそも遠方の点群地図がなかったりするので、近くだけを見てる。</title>
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@@ -8872,14 +12435,14 @@
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-                        style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
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                         <br/>
@@ -8888,35 +12451,42 @@
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-                <text x="710" y="1509" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">crop_box_filter_...</text>
+                <text x="710" y="1509" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">crop_box_filter_...</text>
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                         <div
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+                  <text x="711" y="1640" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">voxel_grid_downsample/pointcloud</text>
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@@ -8924,7 +12494,18 @@
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+            >
               <title>立体格子の点群密度が一様になるように点群を間引く。点群密度が正規化されるため、NDTのロバスト化に一役買っている。</title>
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@@ -8932,14 +12513,14 @@
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               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
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@@ -8948,14 +12529,25 @@
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+                <text x="710" y="1594" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">voxel_grid_...</text>
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               <title>点群数が一定以下になるようにランダムに間引く。基本的にはvoxel grid filterで丁度いいくらい点群数になるように調整してあり、点群数のlimiter的な立ち位置が強い&#xa;</title>
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@@ -8963,14 +12555,14 @@
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@@ -8979,35 +12571,42 @@
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                 <title>MPCの出す予測経路と、laneletのレーン情報を用いて、車両がレーン外に出ようとしているかどうかを判定する。diag出力をerror_monitorに送り、逸脱判断字は停止する（option）</title>
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 627px; margin-left: 3156px;"
                     >
-                      <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
                           lane_departure_
                           <br/>
@@ -9739,7 +13581,7 @@
                       </div>
                     </div>
                   </foreignObject>
-                  <text x="3215" y="631" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">lane_departure_...</text>
+                  <text x="3215" y="631" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">lane_departure_...</text>
                 </switch>
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@@ -9747,25 +13589,34 @@
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           <g>
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+            <path d="M 3376 627.5 L 3281.37 627.03" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path
+              d="M 3276.12 627.01 L 3283.14 623.54 L 3281.37 627.03 L 3283.1 630.54 Z"
+              fill="#000000"
+              stroke="#000000"
+              stroke-miterlimit="10"
+              pointer-events="all"
+              style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"
+            />
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           <g>
             <g transform="translate(-0.5 -0.5)">
               <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                   <div
                     xmlns="http://www.w3.org/1999/xhtml"
                     style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 640px; margin-left: 3326px;"
                   >
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-                      <div style="display: inline-block; font-size: 21px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: nowrap;">
+                    <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
+                      <div
+                        style="display: inline-block; font-size: 21px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: nowrap; "
+                      >
                         <font style="font-size: 11px;">prediced_path</font>
                       </div>
                     </div>
                   </div>
                 </foreignObject>
-                <text x="3326" y="647" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="21px" text-anchor="middle">prediced_path</text>
+                <text x="3326" y="647" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="21px" text-anchor="middle">prediced_path</text>
               </switch>
             </g>
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@@ -9775,21 +13626,32 @@
         <g data-cell-id="y0lixSO8cwDmPpI5OSjV-166">
           <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/map/autoware_map_projection_loader">
             <g>
-              <rect x="159" y="1275" width="120" height="40" rx="6" ry="6" fill="#badc98" stroke="#2d7600" pointer-events="all"/>
+              <rect
+                x="159"
+                y="1275"
+                width="120"
+                height="40"
+                rx="6"
+                ry="6"
+                fill="#badc98"
+                stroke="#2d7600"
+                pointer-events="all"
+                style="fill: light-dark(rgb(186, 220, 152), rgb(40, 69, 11)); stroke: light-dark(rgb(45, 118, 0), rgb(115, 177, 76));"
+              />
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             <g>
               <g transform="translate(-0.5 -0.5)">
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
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                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1295px; margin-left: 160px;"
                     >
-                      <div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #ffffff; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#ffffff, #121212); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
-                          <font color="#000000">
+                          <font color="#000000" style="color: light-dark(rgb(0, 0, 0), rgb(237, 237, 237));">
                             map_projection_
                             <br/>
                             loader
@@ -9808,21 +13670,32 @@
         <g data-cell-id="y0lixSO8cwDmPpI5OSjV-167">
           <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/map/map_loader">
             <g>
-              <rect x="159" y="1365" width="120" height="40" rx="6" ry="6" fill="#badc98" stroke="#2d7600" pointer-events="all"/>
+              <rect
+                x="159"
+                y="1365"
+                width="120"
+                height="40"
+                rx="6"
+                ry="6"
+                fill="#badc98"
+                stroke="#2d7600"
+                pointer-events="all"
+                style="fill: light-dark(rgb(186, 220, 152), rgb(40, 69, 11)); stroke: light-dark(rgb(45, 118, 0), rgb(115, 177, 76));"
+              />
             </g>
             <g>
               <g transform="translate(-0.5 -0.5)">
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
                       style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1385px; margin-left: 160px;"
                     >
-                      <div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #ffffff; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#ffffff, #121212); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
-                          <font color="#000000">
+                          <font color="#000000" style="color: light-dark(rgb(0, 0, 0), rgb(237, 237, 237));">
                             lanelet2_map_loader
                             <br/>
                           </font>
@@ -9839,21 +13712,32 @@
         <g data-cell-id="y0lixSO8cwDmPpI5OSjV-168">
           <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/map/map_loader">
             <g>
-              <rect x="159" y="1450" width="121.25" height="40" rx="6" ry="6" fill="#badc98" stroke="#2d7600" pointer-events="all"/>
+              <rect
+                x="159"
+                y="1450"
+                width="121.25"
+                height="40"
+                rx="6"
+                ry="6"
+                fill="#badc98"
+                stroke="#2d7600"
+                pointer-events="all"
+                style="fill: light-dark(rgb(186, 220, 152), rgb(40, 69, 11)); stroke: light-dark(rgb(45, 118, 0), rgb(115, 177, 76));"
+              />
             </g>
             <g>
               <g transform="translate(-0.5 -0.5)">
                 <switch>
-                  <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                  <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
                     <div
                       xmlns="http://www.w3.org/1999/xhtml"
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                     >
-                      <div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                      <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #ffffff; ">
                         <div
-                          style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"
+                          style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#ffffff, #121212); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; "
                         >
-                          <font color="#000000">
+                          <font color="#000000" style="color: light-dark(rgb(0, 0, 0), rgb(237, 237, 237));">
                             pointcloud_map_
                             <br/>
                             loader