Open VRichardJP opened 1 year ago
So great…!
This is a great initiative! Thanks!
In the exceptions section of the script, is it easy to add a list of verified dependencies per package? So that if people check a particular "unused dependency" and verify it is in fact used, that it can be excepted from the search in the future?
@simon-t4 This is just a PoC script. By default, I just look for any #include <dep_name/.*>
in the C/C++ source files. But as you can see, there are quite a few listed "exceptions" (and I may have missed a few). Most exceptions are system libraries (e.g. libboost-dev
-> #include <boost/.*>
), but there are also "special" dependencies that won't be used in the source code (e.g. rosidl_default_generators
brings cmake macros). It is not difficult to add more cases/exceptions to avoid false positives.
To answer your question precisely, I have not met a case where a dependency is listed in the package.xml
yet not found anywhere in any of the packages files. But even if it was the case, you could always add a simple rule such as [[ "$dep" == "SomeDependency" ]] && [[ "$pkg" == "SomePkg" ]] && continue
. At the end of the day, the script is just a tool, it does not have to be "clean".
I have updated the script above a bit and quickly fixed all reported dependencies. Then checked release build time before/after on my machine:
$ colcon build --symlink-install --event-handlers=console_cohesion+ --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1 -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_TESTING=False -DCMAKE_C_FLAGS='-fdiagnostics-color' -DCMAKE_CXX_FLAGS='-fdiagnostics-color' -GNinja
Before:
real 42m21.522s
user 257m55.620s
sys 17m22.792s
After:
real 42m17.404s
user 244m15.675s
sys 16m57.653s
The real
time is not impacted much (not exactly sure why), but you can see user
and sys
times are reduced by a decent amount: 275m17 seconds of "cpu time" (user+sys) after compared to 287m17s before. That is +5% faster, just by removing unused stuff...!
There are a lot of package.xml
to clean, any help to create PRs is welcomed :)
Detailed diff below:
=== src/core/autoware.core (git) ===
=== src/core/autoware_adapi_msgs (git) ===
=== src/core/autoware_common (git) ===
diff --git a/autoware_utils/package.xml b/autoware_utils/package.xml
index 4355dc8..e6b7fdf 100644
--- a/autoware_utils/package.xml
+++ b/autoware_utils/package.xml
@@ -12,7 +12,6 @@
<build_depend>autoware_cmake</build_depend>
- <depend>builtin_interfaces</depend>
<depend>rclcpp</depend>
<test_depend>ament_cmake_ros</test_depend>
diff --git a/tmp/lanelet2_extension/package.xml b/tmp/lanelet2_extension/package.xml
index 2a117b2..7dab023 100644
--- a/tmp/lanelet2_extension/package.xml
+++ b/tmp/lanelet2_extension/package.xml
@@ -12,18 +12,14 @@
<build_depend>autoware_cmake</build_depend>
<depend>autoware_auto_mapping_msgs</depend>
- <depend>autoware_auto_planning_msgs</depend>
<depend>autoware_planning_msgs</depend>
<depend>autoware_utils</depend>
- <depend>geographiclib</depend>
<depend>geometry_msgs</depend>
<depend>lanelet2_core</depend>
<depend>lanelet2_io</depend>
- <depend>lanelet2_maps</depend>
<depend>lanelet2_projection</depend>
<depend>lanelet2_routing</depend>
<depend>lanelet2_traffic_rules</depend>
- <depend>lanelet2_validation</depend>
<depend>pugixml-dev</depend>
<depend>range-v3</depend>
<depend>rclcpp</depend>
=== src/core/autoware_msgs (git) ===
diff --git a/autoware_common_msgs/package.xml b/autoware_common_msgs/package.xml
index 834e667..54e3fe3 100644
--- a/autoware_common_msgs/package.xml
+++ b/autoware_common_msgs/package.xml
@@ -8,8 +8,7 @@
<license>Apache License 2.0</license>
<buildtool_depend>ament_cmake_auto</buildtool_depend>
-
- <depend>rosidl_default_generators</depend>
+ <buildtool_depend>rosidl_default_generators</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
diff --git a/autoware_perception_msgs/package.xml b/autoware_perception_msgs/package.xml
index cb28552..e1f8791 100644
--- a/autoware_perception_msgs/package.xml
+++ b/autoware_perception_msgs/package.xml
@@ -8,9 +8,9 @@
<license>Apache License 2.0</license>
<buildtool_depend>ament_cmake_auto</buildtool_depend>
+ <buildtool_depend>rosidl_default_generators</buildtool_depend>
<depend>builtin_interfaces</depend>
- <depend>rosidl_default_generators</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
=== src/core/external/autoware_auto_msgs (git) ===
diff --git a/autoware_auto_control_msgs/package.xml b/autoware_auto_control_msgs/package.xml
index cfddca3..0273e83 100644
--- a/autoware_auto_control_msgs/package.xml
+++ b/autoware_auto_control_msgs/package.xml
@@ -12,7 +12,6 @@
<build_depend>rosidl_default_generators</build_depend>
<depend>builtin_interfaces</depend>
- <depend>std_msgs</depend>
<exec_depend>rosidl_default_runtime</exec_depend>
diff --git a/autoware_auto_planning_msgs/CMakeLists.txt b/autoware_auto_planning_msgs/CMakeLists.txt
index 1cf6cc5..947c6b1 100644
--- a/autoware_auto_planning_msgs/CMakeLists.txt
+++ b/autoware_auto_planning_msgs/CMakeLists.txt
@@ -24,10 +24,10 @@ rosidl_generate_interfaces(${PROJECT_NAME}
"msg/PathPointWithLaneId.idl"
"srv/ModifyTrajectory.idl"
DEPENDENCIES
- "autoware_auto_geometry_msgs"
+ # "autoware_auto_geometry_msgs"
"autoware_auto_mapping_msgs"
"builtin_interfaces"
- "action_msgs"
+ # "action_msgs"
"geometry_msgs"
"nav_msgs"
"std_msgs"
diff --git a/autoware_auto_planning_msgs/package.xml b/autoware_auto_planning_msgs/package.xml
index a5f129a..f0a4da6 100644
--- a/autoware_auto_planning_msgs/package.xml
+++ b/autoware_auto_planning_msgs/package.xml
@@ -11,10 +11,10 @@
<build_depend>rosidl_default_generators</build_depend>
- <depend>autoware_auto_geometry_msgs</depend>
+ <!-- <depend>autoware_auto_geometry_msgs</depend> -->
<depend>autoware_auto_mapping_msgs</depend>
<depend>builtin_interfaces</depend>
- <depend>action_msgs</depend>
+ <!-- <depend>action_msgs</depend> -->
<depend>geometry_msgs</depend>
<depend>nav_msgs</depend>
<depend>std_msgs</depend>
@@ -30,4 +30,3 @@
<build_type>ament_cmake</build_type>
</export>
</package>
-
diff --git a/autoware_auto_system_msgs/package.xml b/autoware_auto_system_msgs/package.xml
index a017f62..20fc5d1 100644
--- a/autoware_auto_system_msgs/package.xml
+++ b/autoware_auto_system_msgs/package.xml
@@ -13,7 +13,6 @@
<depend>builtin_interfaces</depend>
<depend>diagnostic_msgs</depend>
- <depend>std_msgs</depend>
<exec_depend>rosidl_default_runtime</exec_depend>
@@ -26,4 +25,3 @@
<build_type>ament_cmake</build_type>
</export>
</package>
-
=== src/launcher/autoware_launch (git) ===
=== src/param/autoware_individual_params (git) ===
=== src/sensor_component/external/sensor_component_description (git) ===
=== src/sensor_component/external/tamagawa_imu_driver (git) ===
=== src/sensor_component/external/velodyne_vls (git) ===
diff --git a/velodyne_driver/package.xml b/velodyne_driver/package.xml
index a07ccf0..a22e399 100644
--- a/velodyne_driver/package.xml
+++ b/velodyne_driver/package.xml
@@ -19,7 +19,6 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
- <depend>diagnostic_msgs</depend>
<depend>diagnostic_updater</depend>
<depend>libpcap</depend>
<depend>rclcpp</depend>
diff --git a/velodyne_laserscan/package.xml b/velodyne_laserscan/package.xml
index c280164..03caf01 100755
--- a/velodyne_laserscan/package.xml
+++ b/velodyne_laserscan/package.xml
@@ -16,7 +16,7 @@
<buildtool_depend>catkin</buildtool_depend>
- <depend>roscpp</depend>
+ <!-- <depend>rclcpp</depend> -->
<depend>nodelet</depend>
<depend>sensor_msgs</depend>
<depend>dynamic_reconfigure</depend>
diff --git a/velodyne_pointcloud/package.xml b/velodyne_pointcloud/package.xml
index 5bba469..478cc93 100644
--- a/velodyne_pointcloud/package.xml
+++ b/velodyne_pointcloud/package.xml
@@ -22,9 +22,7 @@
<depend>angles</depend>
- <depend>diagnostic_updater</depend>
<depend>autoware_auto_vehicle_msgs</depend>
- <depend>geometry_msgs</depend>
<depend>libpcl-all-dev</depend>
<depend>message_filters</depend>
<depend>pcl_ros</depend>
@@ -38,9 +36,6 @@
<depend>visualization_msgs</depend>
<depend>yaml-cpp</depend>
- <depend>cv_bridge</depend>
- <depend>image_transport</depend>
-
<!-- <exec_depend>velodyne_laserscan</exec_depend> -->
<!-- <test_depend>rosunit</test_depend>
=== src/sensor_kit/external/awsim_sensor_kit_launch (git) ===
diff --git a/awsim_sensor_kit_description/package.xml b/awsim_sensor_kit_description/package.xml
index 0a0239c..e37a123 100644
--- a/awsim_sensor_kit_description/package.xml
+++ b/awsim_sensor_kit_description/package.xml
@@ -9,8 +9,6 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
- <depend>velodyne_description</depend>
-
<export>
<build_type>ament_cmake</build_type>
</export>
=== src/sensor_kit/sample_sensor_kit_launch (git) ===
diff --git a/sample_sensor_kit_description/package.xml b/sample_sensor_kit_description/package.xml
index 51b73a2..c16491e 100644
--- a/sample_sensor_kit_description/package.xml
+++ b/sample_sensor_kit_description/package.xml
@@ -11,8 +11,6 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
- <depend>velodyne_description</depend>
-
<export>
<build_type>ament_cmake</build_type>
</export>
=== src/universe/autoware.universe (git) ===
diff --git a/common/autoware_ad_api_specs/package.xml b/common/autoware_ad_api_specs/package.xml
index ca3d998617..260f7e723a 100644
--- a/common/autoware_ad_api_specs/package.xml
+++ b/common/autoware_ad_api_specs/package.xml
@@ -14,6 +14,8 @@
<build_depend>autoware_cmake</build_depend>
+ <depend>autoware_adapi_version_msgs</depend>
+
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
diff --git a/common/autoware_auto_geometry/package.xml b/common/autoware_auto_geometry/package.xml
index e19ac4897a..ff3ecca882 100644
--- a/common/autoware_auto_geometry/package.xml
+++ b/common/autoware_auto_geometry/package.xml
@@ -11,8 +11,6 @@
<build_depend>autoware_cmake</build_depend>
- <depend>autoware_auto_common</depend>
- <depend>autoware_auto_geometry_msgs</depend>
<depend>autoware_auto_planning_msgs</depend>
<depend>autoware_auto_tf2</depend>
<depend>autoware_auto_vehicle_msgs</depend>
diff --git a/common/autoware_auto_tf2/package.xml b/common/autoware_auto_tf2/package.xml
index c80ce45a21..9a87d42cdc 100644
--- a/common/autoware_auto_tf2/package.xml
+++ b/common/autoware_auto_tf2/package.xml
@@ -14,7 +14,7 @@
<depend>autoware_auto_common</depend>
<depend>autoware_auto_geometry_msgs</depend>
<depend>autoware_auto_perception_msgs</depend>
- <depend>autoware_auto_system_msgs</depend>
+ <!-- <depend>autoware_auto_system_msgs</depend> -->
<depend>geometry_msgs</depend>
<depend>tf2</depend>
<depend>tf2_geometry_msgs</depend>
diff --git a/common/autoware_point_types/package.xml b/common/autoware_point_types/package.xml
index 8829bd7538..df86c2392f 100644
--- a/common/autoware_point_types/package.xml
+++ b/common/autoware_point_types/package.xml
@@ -16,11 +16,11 @@
<build_depend>autoware_cmake</build_depend>
- <depend>ament_cmake_copyright</depend>
- <depend>ament_cmake_cppcheck</depend>
- <depend>ament_cmake_lint_cmake</depend>
- <depend>ament_cmake_xmllint</depend>
- <depend>pcl_ros</depend>
+ <!-- <depend>ament_cmake_copyright</depend> -->
+ <!-- <depend>ament_cmake_cppcheck</depend> -->
+ <!-- <depend>ament_cmake_lint_cmake</depend> -->
+ <!-- <depend>ament_cmake_xmllint</depend> -->
+ <!-- <depend>pcl_ros</depend> -->
<depend>point_cloud_msg_wrapper</depend>
<test_depend>ament_cmake_ros</test_depend>
diff --git a/common/bag_time_manager_rviz_plugin/package.xml b/common/bag_time_manager_rviz_plugin/package.xml
index b12c24b728..913c411cd2 100644
--- a/common/bag_time_manager_rviz_plugin/package.xml
+++ b/common/bag_time_manager_rviz_plugin/package.xml
@@ -10,10 +10,10 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<build_depend>autoware_cmake</build_depend>
- <depend>libqt5-core</depend>
- <depend>libqt5-gui</depend>
- <depend>libqt5-widgets</depend>
- <depend>qtbase5-dev</depend>
+ <!-- <depend>libqt5-core</depend> -->
+ <!-- <depend>libqt5-gui</depend> -->
+ <!-- <depend>libqt5-widgets</depend> -->
+ <!-- <depend>qtbase5-dev</depend> -->
<depend>rclcpp</depend>
<depend>rosbag2_interfaces</depend>
<depend>rviz_common</depend>
diff --git a/common/component_interface_specs/package.xml b/common/component_interface_specs/package.xml
index 54a0f1a66d..b5274fe97d 100644
--- a/common/component_interface_specs/package.xml
+++ b/common/component_interface_specs/package.xml
@@ -15,6 +15,7 @@
<build_depend>autoware_cmake</build_depend>
<depend>autoware_adapi_v1_msgs</depend>
+ <depend>tier4_control_msgs</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
diff --git a/common/component_interface_utils/package.xml b/common/component_interface_utils/package.xml
index b1f49fe40f..48e36ca6f7 100644
--- a/common/component_interface_utils/package.xml
+++ b/common/component_interface_utils/package.xml
@@ -17,7 +17,7 @@
<depend>autoware_adapi_v1_msgs</depend>
<depend>rclcpp</depend>
- <depend>rclcpp_components</depend>
+ <!-- <depend>rclcpp_components</depend> -->
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
diff --git a/common/fake_test_node/package.xml b/common/fake_test_node/package.xml
index 8e919d719f..99278717cc 100644
--- a/common/fake_test_node/package.xml
+++ b/common/fake_test_node/package.xml
@@ -11,11 +11,11 @@
<build_depend>autoware_cmake</build_depend>
- <depend>ament_cmake_ros</depend>
- <depend>autoware_auto_common</depend>
+ <!-- <depend>ament_cmake_ros</depend> -->
+ <!-- <depend>autoware_auto_common</depend> -->
<depend>rclcpp</depend>
- <depend>rclcpp_components</depend>
- <depend>tf2</depend>
+ <!-- <depend>rclcpp_components</depend> -->
+ <!-- <depend>tf2</depend> -->
<depend>tf2_ros</depend>
<test_depend>ament_index_python</test_depend>
diff --git a/common/motion_utils/package.xml b/common/motion_utils/package.xml
index ee6975e0ca..7c252d7671 100644
--- a/common/motion_utils/package.xml
+++ b/common/motion_utils/package.xml
@@ -24,16 +24,16 @@
<build_depend>autoware_cmake</build_depend>
<depend>autoware_auto_planning_msgs</depend>
- <depend>autoware_auto_vehicle_msgs</depend>
- <depend>builtin_interfaces</depend>
+ <!-- <depend>autoware_auto_vehicle_msgs</depend> -->
+ <!-- <depend>builtin_interfaces</depend> -->
<depend>geometry_msgs</depend>
<depend>interpolation</depend>
<depend>libboost-dev</depend>
<depend>rclcpp</depend>
<depend>tf2</depend>
- <depend>tf2_geometry_msgs</depend>
+ <!-- <depend>tf2_geometry_msgs</depend> -->
<depend>tier4_autoware_utils</depend>
- <depend>visualization_msgs</depend>
+ <!-- <depend>visualization_msgs</depend> -->
<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
diff --git a/common/osqp_interface/package.xml b/common/osqp_interface/package.xml
index 643611ca48..fff142231f 100644
--- a/common/osqp_interface/package.xml
+++ b/common/osqp_interface/package.xml
@@ -14,10 +14,10 @@
<build_depend>autoware_cmake</build_depend>
- <depend>eigen</depend>
+ <!-- <depend>eigen</depend> -->
<depend>osqp_vendor</depend>
<depend>rclcpp</depend>
- <depend>rclcpp_components</depend>
+ <!-- <depend>rclcpp_components</depend> -->
<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
diff --git a/common/perception_utils/package.xml b/common/perception_utils/package.xml
index 5d1fa5cae8..2b90ccacef 100644
--- a/common/perception_utils/package.xml
+++ b/common/perception_utils/package.xml
@@ -18,7 +18,6 @@
<depend>geometry_msgs</depend>
<depend>interpolation</depend>
<depend>libboost-dev</depend>
- <depend>rclcpp</depend>
<depend>tier4_autoware_utils</depend>
<test_depend>ament_cmake_ros</test_depend>
diff --git a/common/polar_grid/package.xml b/common/polar_grid/package.xml
index 75118d09ef..0b2e4a1818 100644
--- a/common/polar_grid/package.xml
+++ b/common/polar_grid/package.xml
@@ -11,13 +11,13 @@
<build_depend>autoware_cmake</build_depend>
- <depend>libqt5-core</depend>
- <depend>libqt5-gui</depend>
- <depend>libqt5-widgets</depend>
- <depend>qtbase5-dev</depend>
+ <!-- <depend>libqt5-core</depend> -->
+ <!-- <depend>libqt5-gui</depend> -->
+ <!-- <depend>libqt5-widgets</depend> -->
+ <!-- <depend>qtbase5-dev</depend> -->
<depend>rviz_common</depend>
- <depend>rviz_default_plugins</depend>
- <depend>rviz_ogre_vendor</depend>
+ <!-- <depend>rviz_default_plugins</depend> -->
+ <!-- <depend>rviz_ogre_vendor</depend> -->
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
diff --git a/common/rtc_manager_rviz_plugin/package.xml b/common/rtc_manager_rviz_plugin/package.xml
index 6987e63c3c..f9765e9cd5 100644
--- a/common/rtc_manager_rviz_plugin/package.xml
+++ b/common/rtc_manager_rviz_plugin/package.xml
@@ -19,8 +19,8 @@
<depend>qtbase5-dev</depend>
<depend>rclcpp</depend>
<depend>rviz_common</depend>
- <depend>tier4_external_api_msgs</depend>
- <depend>tier4_planning_msgs</depend>
+ <!-- <depend>tier4_external_api_msgs</depend> -->
+ <!-- <depend>tier4_planning_msgs</depend> -->
<depend>tier4_rtc_msgs</depend>
<depend>unique_identifier_msgs</depend>
diff --git a/common/tier4_adapi_rviz_plugin/package.xml b/common/tier4_adapi_rviz_plugin/package.xml
index a45a258983..4b82f1d201 100644
--- a/common/tier4_adapi_rviz_plugin/package.xml
+++ b/common/tier4_adapi_rviz_plugin/package.xml
@@ -13,11 +13,11 @@
<build_depend>autoware_cmake</build_depend>
- <depend>libqt5-core</depend>
- <depend>libqt5-gui</depend>
- <depend>libqt5-widgets</depend>
- <depend>rclcpp</depend>
- <depend>rviz_common</depend>
+ <!-- <depend>libqt5-core</depend> -->
+ <!-- <depend>libqt5-gui</depend> -->
+ <!-- <depend>libqt5-widgets</depend> -->
+ <!-- <depend>rclcpp</depend> -->
+ <!-- <depend>rviz_common</depend> -->
<depend>rviz_default_plugins</depend>
<test_depend>ament_lint_auto</test_depend>
diff --git a/common/tier4_autoware_utils/package.xml b/common/tier4_autoware_utils/package.xml
index 9e648c49e0..90c42708c5 100644
--- a/common/tier4_autoware_utils/package.xml
+++ b/common/tier4_autoware_utils/package.xml
@@ -16,8 +16,8 @@
<depend>autoware_auto_perception_msgs</depend>
<depend>autoware_auto_planning_msgs</depend>
- <depend>autoware_auto_vehicle_msgs</depend>
- <depend>builtin_interfaces</depend>
+ <!-- <depend>autoware_auto_vehicle_msgs</depend> -->
+ <!-- <depend>builtin_interfaces</depend> -->
<depend>diagnostic_msgs</depend>
<depend>geometry_msgs</depend>
<depend>libboost-dev</depend>
diff --git a/common/tier4_control_rviz_plugin/package.xml b/common/tier4_control_rviz_plugin/package.xml
index 6b765e0654..481dab9f46 100644
--- a/common/tier4_control_rviz_plugin/package.xml
+++ b/common/tier4_control_rviz_plugin/package.xml
@@ -18,9 +18,9 @@
<depend>libqt5-widgets</depend>
<depend>qtbase5-dev</depend>
<depend>rviz_common</depend>
- <depend>rviz_default_plugins</depend>
- <depend>rviz_ogre_vendor</depend>
- <depend>tier4_autoware_utils</depend>
+ <!-- <depend>rviz_default_plugins</depend> -->
+ <!-- <depend>rviz_ogre_vendor</depend> -->
+ <!-- <depend>tier4_autoware_utils</depend> -->
<depend>tier4_control_msgs</depend>
<depend>tier4_external_api_msgs</depend>
diff --git a/common/tier4_debug_rviz_plugin/package.xml b/common/tier4_debug_rviz_plugin/package.xml
index bb1189c025..0aabb7c6f7 100644
--- a/common/tier4_debug_rviz_plugin/package.xml
+++ b/common/tier4_debug_rviz_plugin/package.xml
@@ -17,7 +17,7 @@
<depend>qtbase5-dev</depend>
<depend>rclcpp</depend>
<depend>rviz_common</depend>
- <depend>rviz_default_plugins</depend>
+ <!-- <depend>rviz_default_plugins</depend> -->
<depend>rviz_rendering</depend>
<depend>tier4_debug_msgs</depend>
diff --git a/common/tier4_debug_tools/package.xml b/common/tier4_debug_tools/package.xml
index d4a01d67a1..478d3b5d93 100644
--- a/common/tier4_debug_tools/package.xml
+++ b/common/tier4_debug_tools/package.xml
@@ -16,8 +16,8 @@
<depend>motion_utils</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
- <depend>tf2_ros</depend>
- <depend>tier4_autoware_utils</depend>
+ <!-- <depend>tf2_ros</depend> -->
+ <!-- <depend>tier4_autoware_utils</depend> -->
<depend>tier4_debug_msgs</depend>
<exec_depend>launch_ros</exec_depend>
diff --git a/common/tier4_localization_rviz_plugin/package.xml b/common/tier4_localization_rviz_plugin/package.xml
index 6ef58b8e84..6fef547288 100644
--- a/common/tier4_localization_rviz_plugin/package.xml
+++ b/common/tier4_localization_rviz_plugin/package.xml
@@ -15,14 +15,14 @@
<build_depend>autoware_cmake</build_depend>
<depend>geometry_msgs</depend>
- <depend>libqt5-core</depend>
- <depend>libqt5-gui</depend>
- <depend>libqt5-widgets</depend>
- <depend>qtbase5-dev</depend>
- <depend>rclcpp</depend>
+ <!-- <depend>libqt5-core</depend> -->
+ <!-- <depend>libqt5-gui</depend> -->
+ <!-- <depend>libqt5-widgets</depend> -->
+ <!-- <depend>qtbase5-dev</depend> -->
+ <!-- <depend>rclcpp</depend> -->
<depend>rviz_common</depend>
- <depend>rviz_default_plugins</depend>
- <depend>tf2_ros</depend>
+ <!-- <depend>rviz_default_plugins</depend> -->
+ <!-- <depend>tf2_ros</depend> -->
<depend>vehicle_info_util</depend>
<test_depend>ament_lint_auto</test_depend>
diff --git a/common/tier4_planning_rviz_plugin/package.xml b/common/tier4_planning_rviz_plugin/package.xml
index b4f49033c1..b05d31fc2f 100644
--- a/common/tier4_planning_rviz_plugin/package.xml
+++ b/common/tier4_planning_rviz_plugin/package.xml
@@ -18,7 +18,7 @@
<depend>libqt5-core</depend>
<depend>libqt5-gui</depend>
<depend>libqt5-widgets</depend>
- <depend>motion_utils</depend>
+ <!-- <depend>motion_utils</depend> -->
<depend>qtbase5-dev</depend>
<depend>rclcpp</depend>
<depend>rviz_common</depend>
diff --git a/common/tier4_simulated_clock_rviz_plugin/package.xml b/common/tier4_simulated_clock_rviz_plugin/package.xml
index d7fd09e57b..7fe9aa1396 100644
--- a/common/tier4_simulated_clock_rviz_plugin/package.xml
+++ b/common/tier4_simulated_clock_rviz_plugin/package.xml
@@ -11,10 +11,10 @@
<build_depend>autoware_cmake</build_depend>
- <depend>libqt5-core</depend>
- <depend>libqt5-gui</depend>
- <depend>libqt5-widgets</depend>
- <depend>qtbase5-dev</depend>
+ <!-- <depend>libqt5-core</depend> -->
+ <!-- <depend>libqt5-gui</depend> -->
+ <!-- <depend>libqt5-widgets</depend> -->
+ <!-- <depend>qtbase5-dev</depend> -->
<depend>rclcpp</depend>
<depend>rosgraph_msgs</depend>
<depend>rviz_common</depend>
diff --git a/common/tier4_state_rviz_plugin/package.xml b/common/tier4_state_rviz_plugin/package.xml
index 6923bc5647..03c91d61ee 100644
--- a/common/tier4_state_rviz_plugin/package.xml
+++ b/common/tier4_state_rviz_plugin/package.xml
@@ -13,7 +13,7 @@
<build_depend>autoware_cmake</build_depend>
<depend>autoware_adapi_v1_msgs</depend>
- <depend>autoware_auto_system_msgs</depend>
+ <!-- <depend>autoware_auto_system_msgs</depend> -->
<depend>autoware_auto_vehicle_msgs</depend>
<depend>libqt5-core</depend>
<depend>libqt5-gui</depend>
@@ -21,7 +21,7 @@
<depend>qtbase5-dev</depend>
<depend>rclcpp</depend>
<depend>rviz_common</depend>
- <depend>tier4_control_msgs</depend>
+ <!-- <depend>tier4_control_msgs</depend> -->
<depend>tier4_external_api_msgs</depend>
<depend>tier4_planning_msgs</depend>
diff --git a/common/tier4_vehicle_rviz_plugin/package.xml b/common/tier4_vehicle_rviz_plugin/package.xml
index 15d6609248..530c996b0a 100644
--- a/common/tier4_vehicle_rviz_plugin/package.xml
+++ b/common/tier4_vehicle_rviz_plugin/package.xml
@@ -17,8 +17,8 @@
<depend>libqt5-widgets</depend>
<depend>qtbase5-dev</depend>
<depend>rviz_common</depend>
- <depend>rviz_default_plugins</depend>
- <depend>rviz_ogre_vendor</depend>
+ <!-- <depend>rviz_default_plugins</depend> -->
+ <!-- <depend>rviz_ogre_vendor</depend> -->
<depend>tier4_autoware_utils</depend>
<test_depend>ament_lint_auto</test_depend>
diff --git a/common/tvm_utility/package.xml b/common/tvm_utility/package.xml
index 9bc64ff554..2b24823f78 100644
--- a/common/tvm_utility/package.xml
+++ b/common/tvm_utility/package.xml
@@ -30,7 +30,7 @@
<build_depend>autoware_cmake</build_depend>
<depend>ament_index_cpp</depend>
- <depend>libopenblas-dev</depend>
+ <!-- <depend>libopenblas-dev</depend> -->
<depend>libopencv-dev</depend>
<depend>tvm_vendor</depend>
diff --git a/control/autonomous_emergency_braking/package.xml b/control/autonomous_emergency_braking/package.xml
index e4e7da168b..d796a845d0 100644
--- a/control/autonomous_emergency_braking/package.xml
+++ b/control/autonomous_emergency_braking/package.xml
@@ -12,20 +12,20 @@
<build_depend>autoware_cmake</build_depend>
- <depend>autoware_auto_control_msgs</depend>
+ <!-- <depend>autoware_auto_control_msgs</depend> -->
<depend>autoware_auto_system_msgs</depend>
<depend>autoware_auto_vehicle_msgs</depend>
<depend>diagnostic_updater</depend>
- <depend>geometry_msgs</depend>
+ <!-- <depend>geometry_msgs</depend> -->
<depend>motion_utils</depend>
<depend>nav_msgs</depend>
<depend>pcl_conversions</depend>
<depend>pcl_ros</depend>
- <depend>pointcloud_preprocessor</depend>
+ <!-- <depend>pointcloud_preprocessor</depend> -->
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>sensor_msgs</depend>
- <depend>std_msgs</depend>
+ <!-- <depend>std_msgs</depend> -->
<depend>tf2</depend>
<depend>tf2_eigen</depend>
<depend>tf2_geometry_msgs</depend>
diff --git a/control/control_performance_analysis/package.xml b/control/control_performance_analysis/package.xml
index 4c83864bf9..22197e8e18 100644
--- a/control/control_performance_analysis/package.xml
+++ b/control/control_performance_analysis/package.xml
@@ -33,12 +33,12 @@
<depend>nav_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
- <depend>sensor_msgs</depend>
+ <!-- <depend>sensor_msgs</depend> -->
<depend>signal_processing</depend>
<depend>std_msgs</depend>
<depend>tf2</depend>
- <depend>tf2_eigen</depend>
- <depend>tf2_ros</depend>
+ <!-- <depend>tf2_eigen</depend> -->
+ <!-- <depend>tf2_ros</depend> -->
<depend>tier4_autoware_utils</depend>
<depend>vehicle_info_util</depend>
<exec_depend>builtin_interfaces</exec_depend>
diff --git a/control/external_cmd_selector/package.xml b/control/external_cmd_selector/package.xml
index f6ca2e165b..d084a9cfec 100644
--- a/control/external_cmd_selector/package.xml
+++ b/control/external_cmd_selector/package.xml
@@ -22,10 +22,10 @@
<depend>autoware_auto_vehicle_msgs</depend>
<depend>diagnostic_updater</depend>
- <depend>geometry_msgs</depend>
+ <!-- <depend>geometry_msgs</depend> -->
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
- <depend>std_msgs</depend>
+ <!-- <depend>std_msgs</depend> -->
<depend>tier4_auto_msgs_converter</depend>
<depend>tier4_control_msgs</depend>
<depend>tier4_external_api_msgs</depend>
diff --git a/control/joy_controller/package.xml b/control/joy_controller/package.xml
index 7244c24320..b5054c5858 100644
--- a/control/joy_controller/package.xml
+++ b/control/joy_controller/package.xml
@@ -23,12 +23,12 @@
<depend>autoware_auto_control_msgs</depend>
<depend>autoware_auto_vehicle_msgs</depend>
<depend>geometry_msgs</depend>
- <depend>joy</depend>
+ <!-- <depend>joy</depend> -->
<depend>nav_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>sensor_msgs</depend>
- <depend>std_srvs</depend>
+ <!-- <depend>std_srvs</depend> -->
<depend>tier4_api_utils</depend>
<depend>tier4_control_msgs</depend>
<depend>tier4_external_api_msgs</depend>
diff --git a/control/lane_departure_checker/package.xml b/control/lane_departure_checker/package.xml
index 0ade872d2a..b7f18b8722 100644
--- a/control/lane_departure_checker/package.xml
+++ b/control/lane_departure_checker/package.xml
@@ -26,9 +26,9 @@
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>tf2</depend>
- <depend>tf2_eigen</depend>
- <depend>tf2_geometry_msgs</depend>
- <depend>tf2_ros</depend>
+ <!-- <depend>tf2_eigen</depend> -->
+ <!-- <depend>tf2_geometry_msgs</depend> -->
+ <!-- <depend>tf2_ros</depend> -->
<depend>tier4_autoware_utils</depend>
<depend>tier4_debug_msgs</depend>
<depend>vehicle_info_util</depend>
diff --git a/control/mpc_lateral_controller/package.xml b/control/mpc_lateral_controller/package.xml
index 04a80ef9d9..b210a027c3 100644
--- a/control/mpc_lateral_controller/package.xml
+++ b/control/mpc_lateral_controller/package.xml
@@ -21,16 +21,16 @@
<depend>autoware_auto_control_msgs</depend>
<depend>autoware_auto_planning_msgs</depend>
<depend>autoware_auto_vehicle_msgs</depend>
- <depend>diagnostic_msgs</depend>
- <depend>diagnostic_updater</depend>
- <depend>eigen</depend>
+ <!-- <depend>diagnostic_msgs</depend> -->
+ <!-- <depend>diagnostic_updater</depend> -->
+ <!-- <depend>eigen</depend> -->
<depend>geometry_msgs</depend>
<depend>interpolation</depend>
<depend>motion_utils</depend>
<depend>osqp_interface</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
- <depend>std_msgs</depend>
+ <!-- <depend>std_msgs</depend> -->
<depend>tf2</depend>
<depend>tf2_ros</depend>
<depend>tier4_autoware_utils</depend>
diff --git a/control/obstacle_collision_checker/package.xml b/control/obstacle_collision_checker/package.xml
index e7a51abdac..3c14db972c 100644
--- a/control/obstacle_collision_checker/package.xml
+++ b/control/obstacle_collision_checker/package.xml
@@ -24,17 +24,17 @@
<depend>autoware_auto_planning_msgs</depend>
<depend>boost</depend>
<depend>diagnostic_updater</depend>
- <depend>eigen</depend>
+ <!-- <depend>eigen</depend> -->
<depend>geometry_msgs</depend>
<depend>nav_msgs</depend>
<depend>pcl_ros</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
- <depend>std_msgs</depend>
+ <!-- <depend>std_msgs</depend> -->
<depend>tf2</depend>
<depend>tf2_eigen</depend>
- <depend>tf2_geometry_msgs</depend>
- <depend>tf2_ros</depend>
+ <!-- <depend>tf2_geometry_msgs</depend> -->
+ <!-- <depend>tf2_ros</depend> -->
<depend>tier4_autoware_utils</depend>
<depend>vehicle_info_util</depend>
diff --git a/control/operation_mode_transition_manager/package.xml b/control/operation_mode_transition_manager/package.xml
index 86dc23b6c0..739f6672a6 100644
--- a/control/operation_mode_transition_manager/package.xml
+++ b/control/operation_mode_transition_manager/package.xml
@@ -12,19 +12,19 @@
<build_depend>rosidl_default_generators</build_depend>
<depend>autoware_auto_control_msgs</depend>
- <depend>autoware_auto_system_msgs</depend>
+ <!-- <depend>autoware_auto_system_msgs</depend> -->
<depend>autoware_auto_vehicle_msgs</depend>
<depend>component_interface_specs</depend>
<depend>component_interface_utils</depend>
- <depend>geometry_msgs</depend>
+ <!-- <depend>geometry_msgs</depend> -->
<depend>motion_utils</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
- <depend>std_srvs</depend>
+ <!-- <depend>std_srvs</depend> -->
<depend>tier4_autoware_utils</depend>
<depend>tier4_control_msgs</depend>
<depend>tier4_system_msgs</depend>
- <depend>tier4_vehicle_msgs</depend>
+ <!-- <depend>tier4_vehicle_msgs</depend> -->
<depend>vehicle_info_util</depend>
<test_depend>ament_cmake_gtest</test_depend>
diff --git a/control/pid_longitudinal_controller/package.xml b/control/pid_longitudinal_controller/package.xml
index e8825eaab1..cf48fb8f79 100644
--- a/control/pid_longitudinal_controller/package.xml
+++ b/control/pid_longitudinal_controller/package.xml
@@ -22,15 +22,15 @@
<depend>autoware_auto_control_msgs</depend>
<depend>autoware_auto_planning_msgs</depend>
<depend>autoware_auto_vehicle_msgs</depend>
- <depend>diagnostic_msgs</depend>
+ <!-- <depend>diagnostic_msgs</depend> -->
<depend>diagnostic_updater</depend>
- <depend>eigen</depend>
+ <!-- <depend>eigen</depend> -->
<depend>geometry_msgs</depend>
<depend>interpolation</depend>
<depend>motion_utils</depend>
<depend>rclcpp</depend>
- <depend>rclcpp_components</depend>
- <depend>std_msgs</depend>
+ <!-- <depend>rclcpp_components</depend> -->
+ <!-- <depend>std_msgs</depend> -->
<depend>tf2</depend>
<depend>tf2_ros</depend>
<depend>tier4_autoware_utils</depend>
diff --git a/control/pure_pursuit/package.xml b/control/pure_pursuit/package.xml
index d2b3ed292c..2216d8fc11 100644
--- a/control/pure_pursuit/package.xml
+++ b/control/pure_pursuit/package.xml
@@ -23,8 +23,8 @@
<depend>nav_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
- <depend>sensor_msgs</depend>
- <depend>std_msgs</depend>
+ <!-- <depend>sensor_msgs</depend> -->
+ <!-- <depend>std_msgs</depend> -->
<depend>tf2</depend>
<depend>tf2_eigen</depend>
<depend>tf2_geometry_msgs</depend>
diff --git a/control/trajectory_follower_base/package.xml b/control/trajectory_follower_base/package.xml
index b3e6a53228..9694e66ef3 100644
--- a/control/trajectory_follower_base/package.xml
+++ b/control/trajectory_follower_base/package.xml
@@ -24,21 +24,21 @@
<depend>autoware_auto_control_msgs</depend>
<depend>autoware_auto_planning_msgs</depend>
<depend>autoware_auto_vehicle_msgs</depend>
- <depend>diagnostic_msgs</depend>
- <depend>diagnostic_updater</depend>
- <depend>eigen</depend>
+ <!-- <depend>diagnostic_msgs</depend> -->
+ <!-- <depend>diagnostic_updater</depend> -->
+ <!-- <depend>eigen</depend> -->
<depend>geometry_msgs</depend>
- <depend>interpolation</depend>
- <depend>motion_utils</depend>
- <depend>osqp_interface</depend>
+ <!-- <depend>interpolation</depend> -->
+ <!-- <depend>motion_utils</depend> -->
+ <!-- <depend>osqp_interface</depend> -->
<depend>rclcpp</depend>
- <depend>rclcpp_components</depend>
- <depend>std_msgs</depend>
- <depend>tf2</depend>
- <depend>tf2_ros</depend>
- <depend>tier4_autoware_utils</depend>
- <depend>tier4_debug_msgs</depend>
- <depend>vehicle_info_util</depend>
+ <!-- <depend>rclcpp_components</depend> -->
+ <!-- <depend>std_msgs</depend> -->
+ <!-- <depend>tf2</depend> -->
+ <!-- <depend>tf2_ros</depend> -->
+ <!-- <depend>tier4_autoware_utils</depend> -->
+ <!-- <depend>tier4_debug_msgs</depend> -->
+ <!-- <depend>vehicle_info_util</depend> -->
<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
diff --git a/control/trajectory_follower_node/package.xml b/control/trajectory_follower_node/package.xml
index 303df922a2..b50aaaebb7 100644
--- a/control/trajectory_follower_node/package.xml
+++ b/control/trajectory_follower_node/package.xml
@@ -23,7 +23,7 @@
<depend>autoware_adapi_v1_msgs</depend>
<depend>autoware_auto_control_msgs</depend>
<depend>autoware_auto_planning_msgs</depend>
- <depend>autoware_auto_system_msgs</depend>
+ <!-- <depend>autoware_auto_system_msgs</depend> -->
<depend>autoware_auto_vehicle_msgs</depend>
<depend>motion_utils</depend>
<depend>mpc_lateral_controller</depend>
diff --git a/control/vehicle_cmd_gate/package.xml b/control/vehicle_cmd_gate/package.xml
index 92d6911c8f..65ff9f6004 100644
--- a/control/vehicle_cmd_gate/package.xml
+++ b/control/vehicle_cmd_gate/package.xml
@@ -16,7 +16,7 @@
<depend>autoware_adapi_v1_msgs</depend>
<depend>autoware_auto_control_msgs</depend>
- <depend>autoware_auto_system_msgs</depend>
+ <!-- <depend>autoware_auto_system_msgs</depend> -->
<depend>autoware_auto_vehicle_msgs</depend>
<depend>component_interface_specs</depend>
<depend>component_interface_utils</depend>
diff --git a/evaluator/diagnostic_converter/package.xml b/evaluator/diagnostic_converter/package.xml
index c561cfcac6..4464ca7157 100644
--- a/evaluator/diagnostic_converter/package.xml
+++ b/evaluator/diagnostic_converter/package.xml
@@ -14,7 +14,7 @@
<build_depend>autoware_cmake</build_depend>
<depend>diagnostic_msgs</depend>
- <depend>pluginlib</depend>
+ <!-- <depend>pluginlib</depend> -->
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>tier4_simulation_msgs</depend>
diff --git a/evaluator/kinematic_evaluator/package.xml b/evaluator/kinematic_evaluator/package.xml
index e761a53cb6..7cff32726a 100644
--- a/evaluator/kinematic_evaluator/package.xml
+++ b/evaluator/kinematic_evaluator/package.xml
@@ -12,15 +12,15 @@
<build_depend>autoware_cmake</build_depend>
- <depend>autoware_auto_perception_msgs</depend>
- <depend>autoware_auto_planning_msgs</depend>
+ <!-- <depend>autoware_auto_perception_msgs</depend> -->
+ <!-- <depend>autoware_auto_planning_msgs</depend> -->
<depend>diagnostic_msgs</depend>
- <depend>eigen</depend>
+ <!-- <depend>eigen</depend> -->
<depend>geometry_msgs</depend>
<depend>nav_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
- <depend>tf2</depend>
+ <!-- <depend>tf2</depend> -->
<depend>tf2_ros</depend>
<depend>tier4_autoware_utils</depend>
diff --git a/evaluator/localization_evaluator/package.xml b/evaluator/localization_evaluator/package.xml
index 7f99d10023..49953f6506 100644
--- a/evaluator/localization_evaluator/package.xml
+++ b/evaluator/localization_evaluator/package.xml
@@ -12,16 +12,16 @@
<build_depend>autoware_cmake</build_depend>
- <depend>autoware_auto_perception_msgs</depend>
- <depend>autoware_auto_planning_msgs</depend>
+ <!-- <depend>autoware_auto_perception_msgs</depend> -->
+ <!-- <depend>autoware_auto_planning_msgs</depend> -->
<depend>diagnostic_msgs</depend>
- <depend>eigen</depend>
+ <!-- <depend>eigen</depend> -->
<depend>geometry_msgs</depend>
<depend>message_filters</depend>
<depend>nav_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
- <depend>tf2</depend>
+ <!-- <depend>tf2</depend> -->
<depend>tf2_ros</depend>
<depend>tier4_autoware_utils</depend>
diff --git a/evaluator/planning_evaluator/package.xml b/evaluator/planning_evaluator/package.xml
index ef2bca288c..50cabb0811 100644
--- a/evaluator/planning_evaluator/package.xml
+++ b/evaluator/planning_evaluator/package.xml
@@ -18,14 +18,14 @@
<depend>autoware_auto_planning_msgs</depend>
<depend>autoware_planning_msgs</depend>
<depend>diagnostic_msgs</depend>
- <depend>eigen</depend>
+ <!-- <depend>eigen</depend> -->
<depend>geometry_msgs</depend>
<depend>motion_utils</depend>
<depend>nav_msgs</depend>
- <depend>pluginlib</depend>
+ <!-- <depend>pluginlib</depend> -->
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
- <depend>tf2</depend>
+ <!-- <depend>tf2</depend> -->
<depend>tf2_ros</depend>
<depend>tier4_autoware_utils</depend>
diff --git a/localization/ekf_localizer/package.xml b/localization/ekf_localizer/package.xml
index 129798e0e8..0c8a9d943b 100644
--- a/localization/ekf_localizer/package.xml
+++ b/localization/ekf_localizer/package.xml
@@ -22,8 +22,8 @@
<depend>kalman_filter</depend>
<depend>nav_msgs</depend>
<depend>rclcpp</depend>
- <depend>sensor_msgs</depend>
- <depend>std_msgs</depend>
+ <!-- <depend>sensor_msgs</depend> -->
+ <!-- <depend>std_msgs</depend> -->
<depend>std_srvs</depend>
<depend>tf2</depend>
<depend>tf2_ros</depend>
diff --git a/localization/gyro_odometer/package.xml b/localization/gyro_odometer/package.xml
index 5aa85a8c4a..edcac70e19 100644
--- a/localization/gyro_odometer/package.xml
+++ b/localization/gyro_odometer/package.xml
@@ -15,10 +15,10 @@
<depend>fmt</depend>
<depend>geometry_msgs</depend>
<depend>sensor_msgs</depend>
- <depend>std_msgs</depend>
+ <!-- <depend>std_msgs</depend> -->
<depend>tf2</depend>
<depend>tf2_geometry_msgs</depend>
- <depend>tf2_ros</depend>
+ <!-- <depend>tf2_ros</depend> -->
<depend>tier4_autoware_utils</depend>
<exec_depend>rclcpp</exec_depend>
diff --git a/map/map_height_fitter/package.xml b/map/map_height_fitter/package.xml
index dfb6a88944..ca04be31a3 100644
--- a/map/map_height_fitter/package.xml
+++ b/map/map_height_fitter/package.xml
@@ -19,7 +19,6 @@
<depend>pcl_conversions</depend>
<depend>rclcpp</depend>
<depend>sensor_msgs</depend>
- <depend>tf2</depend>
<depend>tf2_geometry_msgs</depend>
<depend>tf2_ros</depend>
diff --git a/map/map_loader/package.xml b/map/map_loader/package.xml
index 4fa5cc4156..f87fe032dd 100644
--- a/map/map_loader/package.xml
+++ b/map/map_loader/package.xml
@@ -21,13 +21,8 @@
<depend>lanelet2_extension</depend>
<depend>libpcl-all-dev</depend>
<depend>pcl_conversions</depend>
- <depend>pcl_ros</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
- <depend>std_msgs</depend>
- <depend>tf2_geometry_msgs</depend>
- <depend>tf2_ros</depend>
- <depend>tier4_autoware_utils</depend>
<depend>visualization_msgs</depend>
<depend>yaml-cpp</depend>
diff --git a/map/util/lanelet2_map_preprocessor/CMakeLists.txt b/map/util/lanelet2_map_preprocessor/CMakeLists.txt
index caa1d27b3e..8a6b16c050 100644
--- a/map/util/lanelet2_map_preprocessor/CMakeLists.txt
+++ b/map/util/lanelet2_map_preprocessor/CMakeLists.txt
@@ -4,12 +4,18 @@ project(lanelet2_map_preprocessor)
find_package(autoware_cmake REQUIRED)
autoware_package()
+find_package(PCL REQUIRED COMPONENTS common io kdtree)
+
include_directories(
include
SYSTEM
${PCL_INCLUDE_DIRS}
)
+link_libraries(
+ ${PCL_LIBRARIES}
+)
+
ament_auto_add_executable(fix_z_value_by_pcd src/fix_z_value_by_pcd.cpp)
ament_auto_add_executable(transform_maps src/transform_maps.cpp)
ament_auto_add_executable(merge_close_lines src/merge_close_lines.cpp)
diff --git a/map/util/lanelet2_map_preprocessor/package.xml b/map/util/lanelet2_map_preprocessor/package.xml
index 216dffe817..f8c6518119 100644
--- a/map/util/lanelet2_map_preprocessor/package.xml
+++ b/map/util/lanelet2_map_preprocessor/package.xml
@@ -12,8 +12,8 @@
<build_depend>autoware_cmake</build_depend>
<depend>lanelet2_extension</depend>
- <depend>pcl_ros</depend>
<depend>rclcpp</depend>
+ <depend>libpcl-all-dev</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
diff --git a/perception/bytetrack/package.xml b/perception/bytetrack/package.xml
index 3968d6cb97..841b7a3055 100644
--- a/perception/bytetrack/package.xml
+++ b/perception/bytetrack/package.xml
@@ -16,16 +16,16 @@
<build_depend>autoware_cmake</build_depend>
<depend>autoware_auto_perception_msgs</depend>
- <depend>cuda_utils</depend>
+ <!-- <depend>cuda_utils</depend> -->
<depend>cv_bridge</depend>
- <depend>eigen</depend>
+ <!-- <depend>eigen</depend> -->
<depend>image_transport</depend>
<depend>libboost-system-dev</depend>
<depend>libopencv-dev</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
- <depend>sensor_msgs</depend>
- <depend>tensorrt_common</depend>
+ <!-- <depend>sensor_msgs</depend> -->
+ <!-- <depend>tensorrt_common</depend> -->
<depend>tier4_perception_msgs</depend>
<test_depend>ament_lint_auto</test_depend>
diff --git a/perception/compare_map_segmentation/package.xml b/perception/compare_map_segmentation/package.xml
index bd2bccf69e..3188aced94 100644
--- a/perception/compare_map_segmentation/package.xml
+++ b/perception/compare_map_segmentation/package.xml
@@ -28,7 +28,7 @@
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>sensor_msgs</depend>
- <depend>tier4_autoware_utils</depend>
+ <!-- <depend>tier4_autoware_utils</depend> -->
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
diff --git a/perception/crosswalk_traffic_light_estimator/package.xml b/perception/crosswalk_traffic_light_estimator/package.xml
index d4147643eb..56d4a05236 100644
--- a/perception/crosswalk_traffic_light_estimator/package.xml
+++ b/perception/crosswalk_traffic_light_estimator/package.xml
@@ -13,7 +13,7 @@
<depend>autoware_auto_mapping_msgs</depend>
<depend>autoware_auto_perception_msgs</depend>
- <depend>autoware_auto_planning_msgs</depend>
+ <!-- <depend>autoware_auto_planning_msgs</depend> -->
<depend>autoware_planning_msgs</depend>
<depend>lanelet2_extension</depend>
<depend>rclcpp</depend>
diff --git a/perception/detected_object_validation/package.xml b/perception/detected_object_validation/package.xml
index a2d82f0fac..9a13785be1 100644
--- a/perception/detected_object_validation/package.xml
+++ b/perception/detected_object_validation/package.xml
@@ -16,7 +16,7 @@
<depend>autoware_auto_mapping_msgs</depend>
<depend>autoware_auto_perception_msgs</depend>
- <depend>geometry_msgs</depend>
+ <!-- <depend>geometry_msgs</depend> -->
<depend>lanelet2_extension</depend>
<depend>message_filters</depend>
<depend>nav_msgs</depend>
@@ -24,11 +24,11 @@
<depend>perception_utils</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
- <depend>tf2</depend>
+ <!-- <depend>tf2</depend> -->
<depend>tf2_geometry_msgs</depend>
<depend>tf2_ros</depend>
<depend>tier4_autoware_utils</depend>
- <depend>tier4_perception_msgs</depend>
+ <!-- <depend>tier4_perception_msgs</depend> -->
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
diff --git a/perception/detection_by_tracker/package.xml b/perception/detection_by_tracker/package.xml
index 55398adef1..06186cbe2a 100644
--- a/perception/detection_by_tracker/package.xml
+++ b/perception/detection_by_tracker/package.xml
@@ -15,8 +15,8 @@
<depend>eigen</depend>
<depend>euclidean_cluster</depend>
- <depend>libpcl-all-dev</depend>
- <depend>pcl_conversions</depend>
+ <!-- <depend>libpcl-all-dev</depend> -->
+ <!-- <depend>pcl_conversions</depend> -->
<depend>perception_utils</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
diff --git a/perception/elevation_map_loader/package.xml b/perception/elevation_map_loader/package.xml
index 0e2ea81f9f..69bb8c107e 100644
--- a/perception/elevation_map_loader/package.xml
+++ b/perception/elevation_map_loader/package.xml
@@ -24,8 +24,8 @@
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>rosbag2_storage_default_plugins</depend>
- <depend>tf2_geometry_msgs</depend>
- <depend>tf2_ros</depend>
+ <!-- <depend>tf2_geometry_msgs</depend> -->
+ <!-- <depend>tf2_ros</depend> -->
<depend>tier4_autoware_utils</depend>
<depend>tier4_external_api_msgs</depend>
diff --git a/perception/euclidean_cluster/package.xml b/perception/euclidean_cluster/package.xml
index d99c923d91..4f0c9ae60a 100644
--- a/perception/euclidean_cluster/package.xml
+++ b/perception/euclidean_cluster/package.xml
@@ -12,7 +12,7 @@
<build_depend>autoware_cmake</build_depend>
<depend>autoware_auto_perception_msgs</depend>
- <depend>compare_map_segmentation</depend>
+ <!-- <depend>compare_map_segmentation</depend> -->
<depend>geometry_msgs</depend>
<depend>libpcl-all-dev</depend>
<depend>pcl_conversions</depend>
diff --git a/perception/front_vehicle_velocity_estimator/CMakeLists.txt b/perception/front_vehicle_velocity_estimator/CMakeLists.txt
index 98094d029a..7a74362a17 100644
--- a/perception/front_vehicle_velocity_estimator/CMakeLists.txt
+++ b/perception/front_vehicle_velocity_estimator/CMakeLists.txt
@@ -5,11 +5,22 @@ project(front_vehicle_velocity_estimator)
find_package(autoware_cmake REQUIRED)
autoware_package()
+find_package(PCL REQUIRED COMPONENTS common)
+
# Targets
ament_auto_add_library(front_vehicle_velocity_estimator_node_component SHARED
src/front_vehicle_velocity_estimator_node/front_vehicle_velocity_estimator_node.cpp
src/front_vehicle_velocity_estimator_node/front_vehicle_velocity_estimator.cpp
)
+target_include_directories(front_vehicle_velocity_estimator_node_component
+ SYSTEM PUBLIC ${PCL_INCLUDE_DIRS}
+)
+target_link_libraries(front_vehicle_velocity_estimator_node_component
+ ${PCL_LIBRARY_DIRS}
+)
+target_compile_definitions(front_vehicle_velocity_estimator_node_component
+ PUBLIC ${PCL_DEFINITIONS}
+)
rclcpp_components_register_node(front_vehicle_velocity_estimator_node_component
PLUGIN "front_vehicle_velocity_estimator::FrontVehicleVelocityEstimatorNode"
diff --git a/perception/front_vehicle_velocity_estimator/package.xml b/perception/front_vehicle_velocity_estimator/package.xml
index 32cf885558..6678473a1d 100644
--- a/perception/front_vehicle_velocity_estimator/package.xml
+++ b/perception/front_vehicle_velocity_estimator/package.xml
@@ -12,11 +12,12 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<depend>autoware_auto_perception_msgs</depend>
- <depend>geometry_msgs</depend>
+ <!-- <depend>geometry_msgs</depend> -->
<depend>message_filters</depend>
<depend>nav_msgs</depend>
<depend>pcl_conversions</depend>
- <depend>pcl_ros</depend>
+ <depend>libpcl-common</depend>
+ <!-- <depend>pcl_ros</depend> -->
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>sensor_msgs</depend>
diff --git a/perception/ground_segmentation/package.xml b/perception/ground_segmentation/package.xml
index cdbab9ee5b..403bcf0ac4 100644
--- a/perception/ground_segmentation/package.xml
+++ b/perception/ground_segmentation/package.xml
@@ -23,10 +23,10 @@
<depend>pcl_conversions</depend>
<depend>pcl_ros</depend>
<depend>pointcloud_preprocessor</depend>
- <depend>rclcpp</depend>
+ <!-- <depend>rclcpp</depend> -->
<depend>rclcpp_components</depend>
<depend>sensor_msgs</depend>
- <depend>std_msgs</depend>
+ <!-- <depend>std_msgs</depend> -->
<depend>tf2</depend>
<depend>tf2_eigen</depend>
<depend>tf2_ros</depend>
diff --git a/perception/image_projection_based_fusion/package.xml b/perception/image_projection_based_fusion/package.xml
index e2b141542b..a0e32e55a5 100644
--- a/perception/image_projection_based_fusion/package.xml
+++ b/perception/image_projection_based_fusion/package.xml
@@ -17,12 +17,12 @@
<depend>image_transport</depend>
<depend>lidar_centerpoint</depend>
<depend>message_filters</depend>
- <depend>pcl_conversions</depend>
- <depend>pcl_ros</depend>
+ <!-- <depend>pcl_conversions</depend> -->
+ <!-- <depend>pcl_ros</depend> -->
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>sensor_msgs</depend>
- <depend>tf2</depend>
+ <!-- <depend>tf2</depend> -->
<depend>tf2_eigen</depend>
<depend>tf2_ros</depend>
<depend>tf2_sensor_msgs</depend>
diff --git a/perception/lidar_apollo_instance_segmentation/package.xml b/perception/lidar_apollo_instance_segmentation/package.xml
index 9cb4d975cf..a8b6eb3581 100755
--- a/perception/lidar_apollo_instance_segmentation/package.xml
+++ b/perception/lidar_apollo_instance_segmentation/package.xml
@@ -21,7 +21,7 @@
<depend>tensorrt_common</depend>
<depend>tf2_eigen</depend>
<depend>tier4_autoware_utils</depend>
- <depend>tier4_debug_msgs</depend>
+ <!-- <depend>tier4_debug_msgs</depend> -->
<depend>tier4_perception_msgs</depend>
<test_depend>ament_lint_auto</test_depend>
diff --git a/perception/lidar_apollo_segmentation_tvm/package.xml b/perception/lidar_apollo_segmentation_tvm/package.xml
index 8dd64a199e..ea80d0fb34 100755
--- a/perception/lidar_apollo_segmentation_tvm/package.xml
+++ b/perception/lidar_apollo_segmentation_tvm/package.xml
@@ -16,7 +16,7 @@
<depend>autoware_auto_perception_msgs</depend>
<depend>geometry_msgs</depend>
<depend>pcl_conversions</depend>
- <depend>rclcpp</depend>
+ <!-- <depend>rclcpp</depend> -->
<depend>sensor_msgs</depend>
<depend>tf2_eigen</depend>
<depend>tf2_geometry_msgs</depend>
diff --git a/perception/lidar_centerpoint/package.xml b/perception/lidar_centerpoint/package.xml
index 879013189b..675dd0c580 100644
--- a/perception/lidar_centerpoint/package.xml
+++ b/perception/lidar_centerpoint/package.xml
@@ -16,7 +16,7 @@
<depend>autoware_auto_perception_msgs</depend>
<depend>pcl_ros</depend>
<depend>perception_utils</depend>
- <depend>python3-open3d</depend>
+ <!-- <depend>python3-open3d</depend> -->
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>tensorrt_common</depend>
diff --git a/perception/map_based_prediction/package.xml b/perception/map_based_prediction/package.xml
index d5e31348e0..4846dec69d 100644
--- a/perception/map_based_prediction/package.xml
+++ b/perception/map_based_prediction/package.xml
@@ -22,9 +22,9 @@
<depend>rclcpp_components</depend>
<depend>tf2</depend>
<depend>tf2_geometry_msgs</depend>
- <depend>tf2_ros</depend>
+ <!-- <depend>tf2_ros</depend> -->
<depend>tier4_autoware_utils</depend>
- <depend>unique_identifier_msgs</depend>
+ <!-- <depend>unique_identifier_msgs</depend> -->
<depend>visualization_msgs</depend>
<test_depend>ament_lint_auto</test_depend>
diff --git a/perception/multi_object_tracker/package.xml b/perception/multi_object_tracker/package.xml
index f924b73f64..91cdb99bb1 100644
--- a/perception/multi_object_tracker/package.xml
+++ b/perception/multi_object_tracker/package.xml
@@ -23,7 +23,7 @@
<depend>tf2</depend>
<depend>tf2_ros</depend>
<depend>tier4_autoware_utils</depend>
- <depend>tier4_perception_msgs</depend>
+ <!-- <depend>tier4_perception_msgs</depend> -->
<depend>unique_identifier_msgs</depend>
<test_depend>ament_lint_auto</test_depend>
diff --git a/perception/object_merger/package.xml b/perception/object_merger/package.xml
index c35b3f837f..e5a857d877 100644
--- a/perception/object_merger/package.xml
+++ b/perception/object_merger/package.xml
@@ -22,7 +22,7 @@
<depend>tf2</depend>
<depend>tf2_ros</depend>
<depend>tier4_autoware_utils</depend>
- <depend>tier4_perception_msgs</depend>
+ <!-- <depend>tier4_perception_msgs</depend> -->
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
diff --git a/perception/object_range_splitter/package.xml b/perception/object_range_splitter/package.xml
index 9a2ac13b35..3d7a4bec14 100644
--- a/perception/object_range_splitter/package.xml
+++ b/perception/object_range_splitter/package.xml
@@ -14,7 +14,7 @@
<depend>autoware_auto_perception_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
- <depend>sensor_msgs</depend>
+ <!-- <depend>sensor_msgs</depend> -->
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
diff --git a/perception/occupancy_grid_map_outlier_filter/package.xml b/perception/occupancy_grid_map_outlier_filter/package.xml
index 26d2a86340..a04bf3ab1f 100644
--- a/perception/occupancy_grid_map_outlier_filter/package.xml
+++ b/perception/occupancy_grid_map_outlier_filter/package.xml
@@ -18,29 +18,29 @@
<build_depend>autoware_cmake</build_depend>
- <depend>autoware_auto_vehicle_msgs</depend>
- <depend>diagnostic_updater</depend>
- <depend>image_transport</depend>
- <depend>lanelet2_extension</depend>
- <depend>libopencv-dev</depend>
+ <!-- <depend>autoware_auto_vehicle_msgs</depend> -->
+ <!-- <depend>diagnostic_updater</depend> -->
+ <!-- <depend>image_transport</depend> -->
+ <!-- <depend>lanelet2_extension</depend> -->
+ <!-- <depend>libopencv-dev</depend> -->
<depend>libpcl-all-dev</depend>
<depend>message_filters</depend>
<depend>nav_msgs</depend>
<depend>pcl_conversions</depend>
- <depend>pcl_msgs</depend>
+ <!-- <depend>pcl_msgs</depend> -->
<depend>pcl_ros</depend>
<depend>pointcloud_preprocessor</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>sensor_msgs</depend>
<depend>std_msgs</depend>
- <depend>tf2</depend>
+ <!-- <depend>tf2</depend> -->
<depend>tf2_eigen</depend>
- <depend>tf2_geometry_msgs</depend>
+ <!-- <depend>tf2_geometry_msgs</depend> -->
<depend>tf2_ros</depend>
<depend>tier4_autoware_utils</depend>
- <depend>tier4_debug_msgs</depend>
- <depend>tier4_pcl_extensions</depend>
+ <!-- <depend>tier4_debug_msgs</depend> -->
+ <!-- <depend>tier4_pcl_extensions</depend> -->
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
diff --git a/perception/probabilistic_occupancy_grid_map/package.xml b/perception/probabilistic_occupancy_grid_map/package.xml
index d3b5c71b65..7dc9ba192b 100644
--- a/perception/probabilistic_occupancy_grid_map/package.xml
+++ b/perception/probabilistic_occupancy_grid_map/package.xml
@@ -14,7 +14,7 @@
<build_depend>autoware_cmake</build_depend>
- <depend>eigen3_cmake_module</depend>
+ <!-- <depend>eigen3_cmake_module</depend> -->
<depend>laser_geometry</depend>
<depend>message_filters</depend>
<depend>nav2_costmap_2d</depend>
@@ -23,13 +23,13 @@
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>sensor_msgs</depend>
- <depend>tf2</depend>
+ <!-- <depend>tf2</depend> -->
<depend>tf2_eigen</depend>
- <depend>tf2_geometry_msgs</depend>
+ <!-- <depend>tf2_geometry_msgs</depend> -->
<depend>tf2_ros</depend>
<depend>tf2_sensor_msgs</depend>
<depend>tier4_autoware_utils</depend>
- <depend>visualization_msgs</depend>
+ <!-- <depend>visualization_msgs</depend> -->
<exec_depend>pointcloud_to_laserscan</exec_depend>
diff --git a/perception/radar_fusion_to_detected_object/package.xml b/perception/radar_fusion_to_detected_object/package.xml
index f7c7e10062..af7d6e0a27 100644
--- a/perception/radar_fusion_to_detected_object/package.xml
+++ b/perception/radar_fusion_to_detected_object/package.xml
@@ -17,7 +17,7 @@
<depend>message_filters</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
- <depend>std_msgs</depend>
+ <!-- <depend>std_msgs</depend> -->
<depend>tier4_autoware_utils</depend>
<build_depend>autoware_cmake</build_depend>
diff --git a/perception/radar_tracks_msgs_converter/package.xml b/perception/radar_tracks_msgs_converter/package.xml
index 84ee931b79..4a01767218 100644
--- a/perception/radar_tracks_msgs_converter/package.xml
+++ b/perception/radar_tracks_msgs_converter/package.xml
@@ -12,14 +12,14 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<depend>autoware_auto_perception_msgs</depend>
- <depend>geometry_msgs</depend>
+ <!-- <depend>geometry_msgs</depend> -->
<depend>nav_msgs</depend>
<depend>radar_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>tf2</depend>
<depend>tf2_geometry_msgs</depend>
- <depend>tf2_ros</depend>
+ <!-- <depend>tf2_ros</depend> -->
<depend>tier4_autoware_utils</depend>
<build_depend>autoware_cmake</build_depend>
diff --git a/perception/shape_estimation/package.xml b/perception/shape_estimation/package.xml
index 0c4a2ae9aa..e6c2430d12 100644
--- a/perception/shape_estimation/package.xml
+++ b/perception/shape_estimation/package.xml
@@ -13,7 +13,7 @@
<build_depend>autoware_cmake</build_depend>
<depend>autoware_auto_perception_msgs</depend>
- <depend>builtin_interfaces</depend>
+ <!-- <depend>builtin_interfaces</depend> -->
<depend>eigen</depend>
<depend>libopencv-dev</depend>
<depend>libpcl-all-dev</depend>
diff --git a/perception/traffic_light_map_based_detector/package.xml b/perception/traffic_light_map_based_detector/package.xml
index 46220572ae..63809a9f3e 100644
--- a/perception/traffic_light_map_based_detector/package.xml
+++ b/perception/traffic_light_map_based_detector/package.xml
@@ -13,7 +13,7 @@
<depend>autoware_auto_mapping_msgs</depend>
<depend>autoware_auto_perception_msgs</depend>
- <depend>autoware_auto_planning_msgs</depend>
+ <!-- <depend>autoware_auto_planning_msgs</depend> -->
<depend>autoware_planning_msgs</depend>
<depend>geometry_msgs</depend>
<depend>image_geometry</depend>
diff --git a/planning/behavior_path_planner/package.xml b/planning/behavior_path_planner/package.xml
index 9f2743e1ce..25dbb50ee7 100644
--- a/planning/behavior_path_planner/package.xml
+++ b/planning/behavior_path_planner/package.xml
@@ -54,15 +54,15 @@
<depend>lane_departure_checker</depend>
<depend>lanelet2_extension</depend>
<depend>libboost-dev</depend>
- <depend>magic_enum</depend>
+ <!-- <depend>magic_enum</depend> -->
<depend>motion_utils</depend>
<depend>perception_utils</depend>
- <depend>planning_test_utils</depend>
+ <!-- <depend>planning_test_utils</depend> -->
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>route_handler</depend>
<depend>rtc_interface</depend>
- <depend>sensor_msgs</depend>
+ <!-- <depend>sensor_msgs</depend> -->
<depend>tf2</depend>
<depend>tf2_eigen</depend>
<depend>tf2_geometry_msgs</depend>
diff --git a/planning/behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/package.xml
index 4f6903ded6..2e83f20274 100644
--- a/planning/behavior_velocity_planner/package.xml
+++ b/planning/behavior_velocity_planner/package.xml
@@ -66,7 +66,7 @@
<depend>lanelet2_extension</depend>
<depend>libboost-dev</depend>
<depend>libopencv-dev</depend>
- <depend>magic_enum</depend>
+ <!-- <depend>magic_enum</depend> -->
<depend>message_filters</depend>
<depend>motion_utils</depend>
<depend>motion_velocity_smoother</depend>
diff --git a/planning/costmap_generator/package.xml b/planning/costmap_generator/package.xml
index f2741df943..1c00dfc8bd 100644
--- a/planning/costmap_generator/package.xml
+++ b/planning/costmap_generator/package.xml
@@ -21,7 +21,7 @@
<depend>autoware_auto_perception_msgs</depend>
<depend>grid_map_ros</depend>
<depend>lanelet2_extension</depend>
- <depend>libpcl-all-dev</depend>
+ <!-- <depend>libpcl-all-dev</depend> -->
<depend>pcl_conversions</depend>
<depend>pcl_ros</depend>
<depend>rclcpp</depend>
diff --git a/planning/freespace_planner/package.xml b/planning/freespace_planner/package.xml
index 1a7e17e78e..0a8c3f2d6e 100644
--- a/planning/freespace_planner/package.xml
+++ b/planning/freespace_planner/package.xml
@@ -21,17 +21,17 @@
<depend>freespace_planning_algorithms</depend>
<depend>geometry_msgs</depend>
<depend>nav_msgs</depend>
- <depend>planning_test_utils</depend>
+ <!-- <depend>planning_test_utils</depend> -->
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>route_handler</depend>
- <depend>tf2</depend>
+ <!-- <depend>tf2</depend> -->
<depend>tf2_geometry_msgs</depend>
<depend>tf2_ros</depend>
<depend>tier4_autoware_utils</depend>
<depend>tier4_planning_msgs</depend>
<depend>vehicle_info_util</depend>
- <depend>visualization_msgs</depend>
+ <!-- <depend>visualization_msgs</depend> -->
<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
diff --git a/planning/mission_planner/package.xml b/planning/mission_planner/package.xml
index 0cd34c6df0..4efd520cd0 100644
--- a/planning/mission_planner/package.xml
+++ b/planning/mission_planner/package.xml
@@ -19,7 +19,7 @@
<build_depend>autoware_cmake</build_depend>
<depend>autoware_adapi_v1_msgs</depend>
- <depend>autoware_auto_planning_msgs</depend>
+ <!-- <depend>autoware_auto_planning_msgs</depend> -->
<depend>autoware_planning_msgs</depend>
<depend>component_interface_specs</depend>
<depend>component_interface_utils</depend>
diff --git a/planning/motion_velocity_smoother/package.xml b/planning/motion_velocity_smoother/package.xml
index dcbdbf8128..a66081c44a 100644
--- a/planning/motion_velocity_smoother/package.xml
+++ b/planning/motion_velocity_smoother/package.xml
@@ -28,7 +28,8 @@
<depend>motion_utils</depend>
<depend>nav_msgs</depend>
<depend>osqp_interface</depend>
- <depend>planning_test_utils</depend>
+ <depend>rclcpp_components</depend>
+ <!-- <depend>planning_test_utils</depend> -->
<depend>rclcpp</depend>
<depend>tf2</depend>
<depend>tf2_ros</depend>
diff --git a/planning/obstacle_avoidance_planner/package.xml b/planning/obstacle_avoidance_planner/package.xml
index 6aa659ff60..0426a76292 100644
--- a/planning/obstacle_avoidance_planner/package.xml
+++ b/planning/obstacle_avoidance_planner/package.xml
@@ -24,10 +24,10 @@
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>std_msgs</depend>
- <depend>tf2_ros</depend>
+ <!-- <depend>tf2_ros</depend> -->
<depend>tier4_autoware_utils</depend>
<depend>tier4_debug_msgs</depend>
- <depend>tier4_planning_msgs</depend>
+ <!-- <depend>tier4_planning_msgs</depend> -->
<depend>vehicle_info_util</depend>
<depend>visualization_msgs</depend>
diff --git a/planning/obstacle_cruise_planner/package.xml b/planning/obstacle_cruise_planner/package.xml
index a9c914f1bb..6d2f6bc85c 100644
--- a/planning/obstacle_cruise_planner/package.xml
+++ b/planning/obstacle_cruise_planner/package.xml
@@ -26,13 +26,13 @@
<depend>nav_msgs</depend>
<depend>osqp_interface</depend>
<depend>perception_utils</depend>
- <depend>planning_test_utils</depend>
+ <!-- <depend>planning_test_utils</depend> -->
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>signal_processing</depend>
- <depend>std_msgs</depend>
+ <!-- <depend>std_msgs</depend> -->
<depend>tf2</depend>
- <depend>tf2_ros</depend>
+ <!-- <depend>tf2_ros</depend> -->
<depend>tier4_autoware_utils</depend>
<depend>tier4_debug_msgs</depend>
<depend>tier4_planning_msgs</depend>
diff --git a/planning/obstacle_stop_planner/package.xml b/planning/obstacle_stop_planner/package.xml
index e167604e4c..859f3d4d8e 100644
--- a/planning/obstacle_stop_planner/package.xml
+++ b/planning/obstacle_stop_planner/package.xml
@@ -28,12 +28,12 @@
<depend>nav_msgs</depend>
<depend>pcl_conversions</depend>
<depend>pcl_ros</depend>
- <depend>planning_test_utils</depend>
+ <!-- <depend>planning_test_utils</depend> -->
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>sensor_msgs</depend>
- <depend>signal_processing</depend>
- <depend>std_msgs</depend>
+ <!-- <depend>signal_processing</depend> -->
+ <!-- <depend>std_msgs</depend> -->
<depend>tf2</depend>
<depend>tf2_eigen</depend>
<depend>tf2_geometry_msgs</depend>
diff --git a/planning/obstacle_velocity_limiter/package.xml b/planning/obstacle_velocity_limiter/package.xml
index 377f061faf..6deb9844a3 100644
--- a/planning/obstacle_velocity_limiter/package.xml
+++ b/planning/obstacle_velocity_limiter/package.xml
@@ -13,8 +13,8 @@
<depend>autoware_auto_perception_msgs</depend>
<depend>autoware_auto_planning_msgs</depend>
- <depend>eigen</depend>
- <depend>grid_map_msgs</depend>
+ <!-- <depend>eigen</depend> -->
+ <!-- <depend>grid_map_msgs</depend> -->
<depend>grid_map_ros</depend>
<depend>grid_map_utils</depend>
<depend>lanelet2_core</depend>
@@ -23,14 +23,14 @@
<depend>motion_utils</depend>
<depend>nav_msgs</depend>
<depend>pcl_ros</depend>
- <depend>planning_test_utils</depend>
+ <!-- <depend>planning_test_utils</depend> -->
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>sensor_msgs</depend>
<depend>tf2_eigen</depend>
<depend>tf2_geometry_msgs</depend>
<depend>tier4_autoware_utils</depend>
- <depend>tier4_planning_msgs</depend>
+ <!-- <depend>tier4_planning_msgs</depend> -->
<depend>vehicle_info_util</depend>
<depend>visualization_msgs</depend>
diff --git a/planning/planning_debug_tools/package.xml b/planning/planning_debug_tools/package.xml
index 9cee8bfdac..c3f687e825 100644
--- a/planning/planning_debug_tools/package.xml
+++ b/planning/planning_debug_tools/package.xml
@@ -17,7 +17,7 @@
<build_depend>rosidl_default_generators</build_depend>
<depend>autoware_auto_planning_msgs</depend>
- <depend>geometry_msgs</depend>
+ <!-- <depend>geometry_msgs</depend> -->
<depend>motion_utils</depend>
<depend>nav_msgs</depend>
<depend>rclcpp</depend>
diff --git a/planning/planning_validator/package.xml b/planning/planning_validator/package.xml
index 68c640346c..5133ddf4ed 100644
--- a/planning/planning_validator/package.xml
+++ b/planning/planning_validator/package.xml
@@ -17,10 +17,10 @@
<depend>autoware_auto_planning_msgs</depend>
<depend>diagnostic_updater</depend>
- <depend>geometry_msgs</depend>
+ <!-- <depend>geometry_msgs</depend> -->
<depend>motion_utils</depend>
<depend>nav_msgs</depend>
- <depend>planning_test_utils</depend>
+ <!-- <depend>planning_test_utils</depend> -->
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>tier4_autoware_utils</depend>
diff --git a/planning/route_handler/package.xml b/planning/route_handler/package.xml
index fb863d2e82..ebaa662f31 100644
--- a/planning/route_handler/package.xml
+++ b/planning/route_handler/package.xml
@@ -26,8 +26,8 @@
<depend>lanelet2_extension</depend>
<depend>motion_utils</depend>
<depend>rclcpp</depend>
- <depend>rclcpp_components</depend>
- <depend>tf2_ros</depend>
+ <!-- <depend>rclcpp_components</depend> -->
+ <!-- <depend>tf2_ros</depend> -->
<depend>tier4_autoware_utils</depend>
<export>
diff --git a/planning/scenario_selector/package.xml b/planning/scenario_selector/package.xml
index b1a21a15a9..e4326ebbe0 100644
--- a/planning/scenario_selector/package.xml
+++ b/planning/scenario_selector/package.xml
@@ -24,11 +24,11 @@
<depend>autoware_auto_planning_msgs</depend>
<depend>lanelet2_extension</depend>
<depend>nav_msgs</depend>
- <depend>planning_test_utils</depend>
+ <!-- <depend>planning_test_utils</depend> -->
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>route_handler</depend>
- <depend>tf2</depend>
+ <!-- <depend>tf2</depend> -->
<depend>tf2_geometry_msgs</depend>
<depend>tf2_ros</depend>
<depend>tier4_planning_msgs</depend>
diff --git a/planning/static_centerline_optimizer/package.xml b/planning/static_centerline_optimizer/package.xml
index 0cdd6b58c7..ed013f64c5 100644
--- a/planning/static_centerline_optimizer/package.xml
+++ b/planning/static_centerline_optimizer/package.xml
@@ -20,14 +20,14 @@
<depend>autoware_auto_planning_msgs</depend>
<depend>behavior_path_planner</depend>
<depend>geometry_msgs</depend>
- <depend>global_parameter_loader</depend>
- <depend>interpolation</depend>
+ <!-- <depend>global_parameter_loader</depend> -->
+ <!-- <depend>interpolation</depend> -->
<depend>lanelet2_extension</depend>
<depend>map_loader</depend>
<depend>mission_planner</depend>
<depend>motion_utils</depend>
<depend>obstacle_avoidance_planner</depend>
- <depend>osqp_interface</depend>
+ <!-- <depend>osqp_interface</depend> -->
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>route_handler</depend>
diff --git a/planning/surround_obstacle_checker/package.xml b/planning/surround_obstacle_checker/package.xml
index e1d31acbab..f016252eb8 100644
--- a/planning/surround_obstacle_checker/package.xml
+++ b/planning/surround_obstacle_checker/package.xml
@@ -16,7 +16,7 @@
<depend>autoware_adapi_v1_msgs</depend>
<depend>autoware_auto_perception_msgs</depend>
- <depend>autoware_auto_planning_msgs</depend>
+ <!-- <depend>autoware_auto_planning_msgs</depend> -->
<depend>autoware_auto_tf2</depend>
<depend>diagnostic_msgs</depend>
<depend>eigen</depend>
@@ -26,7 +26,7 @@
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>sensor_msgs</depend>
- <depend>std_msgs</depend>
+ <!-- <depend>std_msgs</depend> -->
<depend>tf2</depend>
<depend>tf2_eigen</depend>
<depend>tf2_geometry_msgs</depend>
diff --git a/sensing/geo_pos_conv/package.xml b/sensing/geo_pos_conv/package.xml
index 0d7cbe47fd..ffd176d167 100644
--- a/sensing/geo_pos_conv/package.xml
+++ b/sensing/geo_pos_conv/package.xml
@@ -12,8 +12,6 @@
<build_depend>autoware_cmake</build_depend>
- <depend>rclcpp</depend>
-
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
diff --git a/sensing/gnss_poser/package.xml b/sensing/gnss_poser/package.xml
index 250122b929..1c799e3c96 100644
--- a/sensing/gnss_poser/package.xml
+++ b/sensing/gnss_poser/package.xml
@@ -15,7 +15,6 @@
<depend>autoware_sensing_msgs</depend>
<depend>geo_pos_conv</depend>
- <depend>geographiclib</depend>
<depend>geometry_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
diff --git a/sensing/image_diagnostics/package.xml b/sensing/image_diagnostics/package.xml
index c613ea5e18..e6bc381c30 100644
--- a/sensing/image_diagnostics/package.xml
+++ b/sensing/image_diagnostics/package.xml
@@ -15,7 +15,6 @@
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>sensor_msgs</depend>
- <depend>tier4_autoware_utils</depend>
<depend>tier4_debug_msgs</depend>
<test_depend>ament_lint_auto</test_depend>
diff --git a/sensing/imu_corrector/package.xml b/sensing/imu_corrector/package.xml
index ce85a42186..a3fa769e52 100644
--- a/sensing/imu_corrector/package.xml
+++ b/sensing/imu_corrector/package.xml
@@ -15,7 +15,6 @@
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>sensor_msgs</depend>
- <depend>tf2</depend>
<depend>tf2_ros</depend>
<depend>tier4_autoware_utils</depend>
diff --git a/sensing/livox/livox_tag_filter/package.xml b/sensing/livox/livox_tag_filter/package.xml
index 50f80e4c5b..c74b922a89 100644
--- a/sensing/livox/livox_tag_filter/package.xml
+++ b/sensing/livox/livox_tag_filter/package.xml
@@ -11,7 +11,6 @@
<build_depend>autoware_cmake</build_depend>
- <depend>libpcl-all-dev</depend>
<depend>pcl_conversions</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
diff --git a/sensing/pointcloud_preprocessor/package.xml b/sensing/pointcloud_preprocessor/package.xml
index 856f7d2bc6..e3181938fb 100644
--- a/sensing/pointcloud_preprocessor/package.xml
+++ b/sensing/pointcloud_preprocessor/package.xml
@@ -28,7 +28,6 @@
<depend>libopencv-dev</depend>
<depend>libpcl-all-dev</depend>
<depend>message_filters</depend>
- <depend>nav_msgs</depend>
<depend>pcl_conversions</depend>
<depend>pcl_msgs</depend>
<depend>pcl_ros</depend>
diff --git a/sensing/radar_scan_to_pointcloud2/CMakeLists.txt b/sensing/radar_scan_to_pointcloud2/CMakeLists.txt
index 1fb63df659..a0b1db3630 100644
--- a/sensing/radar_scan_to_pointcloud2/CMakeLists.txt
+++ b/sensing/radar_scan_to_pointcloud2/CMakeLists.txt
@@ -5,10 +5,21 @@ project(radar_scan_to_pointcloud2)
find_package(autoware_cmake REQUIRED)
autoware_package()
+find_package(PCL REQUIRED COMPONENTS common)
+
# Targets
ament_auto_add_library(radar_scan_to_pointcloud2_node_component SHARED
src/radar_scan_to_pointcloud2_node/radar_scan_to_pointcloud2_node.cpp
)
+target_include_directories(radar_scan_to_pointcloud2_node_component
+ SYSTEM PUBLIC ${PCL_INCLUDE_DIRS}
+)
+target_link_libraries(radar_scan_to_pointcloud2_node_component
+ ${PCL_LIBRARY_DIRS}
+)
+target_compile_definitions(radar_scan_to_pointcloud2_node_component
+ PUBLIC ${PCL_DEFINITIONS}
+)
rclcpp_components_register_node(radar_scan_to_pointcloud2_node_component
PLUGIN "radar_scan_to_pointcloud2::RadarScanToPointcloud2Node"
diff --git a/sensing/radar_scan_to_pointcloud2/package.xml b/sensing/radar_scan_to_pointcloud2/package.xml
index dc6ba43812..62205cd13e 100644
--- a/sensing/radar_scan_to_pointcloud2/package.xml
+++ b/sensing/radar_scan_to_pointcloud2/package.xml
@@ -10,8 +10,8 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
+ <depend>libpcl-common</depend>
<depend>pcl_conversions</depend>
- <depend>pcl_ros</depend>
<depend>radar_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
diff --git a/sensing/radar_static_pointcloud_filter/package.xml b/sensing/radar_static_pointcloud_filter/package.xml
index 30739d5578..56f2b1ffe4 100644
--- a/sensing/radar_static_pointcloud_filter/package.xml
+++ b/sensing/radar_static_pointcloud_filter/package.xml
@@ -15,9 +15,6 @@
<depend>radar_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
- <depend>tf2</depend>
- <depend>tf2_geometry_msgs</depend>
- <depend>tf2_ros</depend>
<depend>tier4_autoware_utils</depend>
<build_depend>autoware_cmake</build_depend>
diff --git a/simulator/fault_injection/package.xml b/simulator/fault_injection/package.xml
index 3b3cd5ca6c..47c95e7859 100644
--- a/simulator/fault_injection/package.xml
+++ b/simulator/fault_injection/package.xml
@@ -14,7 +14,7 @@
<depend>diagnostic_aggregator</depend>
<depend>diagnostic_msgs</depend>
<depend>diagnostic_updater</depend>
- <depend>pluginlib</depend>
+ <!-- <depend>pluginlib</depend> -->
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>tier4_autoware_utils</depend>
diff --git a/simulator/simple_planning_simulator/package.xml b/simulator/simple_planning_simulator/package.xml
index ca4766f875..4526d55b79 100644
--- a/simulator/simple_planning_simulator/package.xml
+++ b/simulator/simple_planning_simulator/package.xml
@@ -27,7 +27,7 @@
<depend>tier4_api_utils</depend>
<depend>tier4_autoware_utils</depend>
<depend>tier4_external_api_msgs</depend>
- <depend>tier4_vehicle_msgs</depend>
+ <!-- <depend>tier4_vehicle_msgs</depend> -->
<depend>vehicle_info_util</depend>
<exec_depend>launch_ros</exec_depend>
diff --git a/system/bluetooth_monitor/package.xml b/system/bluetooth_monitor/package.xml
index 12f3e8088d..0a2fc4bd53 100644
--- a/system/bluetooth_monitor/package.xml
+++ b/system/bluetooth_monitor/package.xml
@@ -12,7 +12,7 @@
<build_depend>autoware_cmake</build_depend>
<build_depend>libboost-serialization-dev</build_depend>
- <depend>diagnostic_msgs</depend>
+ <!-- <depend>diagnostic_msgs</depend> -->
<depend>diagnostic_updater</depend>
<depend>fmt</depend>
<depend>libboost-dev</depend>
diff --git a/system/default_ad_api/package.xml b/system/default_ad_api/package.xml
index f6f43a82f7..3242ef29ef 100644
--- a/system/default_ad_api/package.xml
+++ b/system/default_ad_api/package.xml
@@ -17,8 +17,8 @@
<depend>autoware_ad_api_specs</depend>
<depend>autoware_adapi_v1_msgs</depend>
- <depend>autoware_adapi_version_msgs</depend>
- <depend>autoware_auto_planning_msgs</depend>
+ <!-- <depend>autoware_adapi_version_msgs</depend> -->
+ <!-- <depend>autoware_auto_planning_msgs</depend> -->
<depend>autoware_auto_system_msgs</depend>
<depend>autoware_planning_msgs</depend>
<depend>component_interface_specs</depend>
@@ -27,7 +27,7 @@
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>std_srvs</depend>
- <depend>tier4_control_msgs</depend>
+ <!-- <depend>tier4_control_msgs</depend> -->
<depend>tier4_system_msgs</depend>
<exec_depend>python3-flask</exec_depend>
diff --git a/system/default_ad_api_helpers/ad_api_adaptors/package.xml b/system/default_ad_api_helpers/ad_api_adaptors/package.xml
index 7774c8acbe..b785508a84 100644
--- a/system/default_ad_api_helpers/ad_api_adaptors/package.xml
+++ b/system/default_ad_api_helpers/ad_api_adaptors/package.xml
@@ -16,7 +16,7 @@
<build_depend>autoware_cmake</build_depend>
<depend>autoware_ad_api_specs</depend>
- <depend>autoware_adapi_v1_msgs</depend>
+ <!-- <depend>autoware_adapi_v1_msgs</depend> -->
<depend>component_interface_utils</depend>
<depend>map_height_fitter</depend>
<depend>rclcpp</depend>
diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml
index a8172d1ced..8ae3326f32 100644
--- a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml
+++ b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml
@@ -16,7 +16,7 @@
<build_depend>autoware_cmake</build_depend>
<depend>autoware_ad_api_specs</depend>
- <depend>autoware_adapi_v1_msgs</depend>
+ <!-- <depend>autoware_adapi_v1_msgs</depend> -->
<depend>component_interface_utils</depend>
<depend>rclcpp</depend>
diff --git a/system/dummy_diag_publisher/package.xml b/system/dummy_diag_publisher/package.xml
index 191facf6e3..158d313967 100644
--- a/system/dummy_diag_publisher/package.xml
+++ b/system/dummy_diag_publisher/package.xml
@@ -16,7 +16,7 @@
<depend>diagnostic_updater</depend>
<depend>fmt</depend>
<depend>rclcpp</depend>
- <depend>rclcpp_components</depend>
+ <!-- <depend>rclcpp_components</depend> -->
<depend>tier4_autoware_utils</depend>
<exec_depend>rqt_reconfigure</exec_depend>
diff --git a/system/emergency_handler/package.xml b/system/emergency_handler/package.xml
index babcd28537..4a2d070a81 100644
--- a/system/emergency_handler/package.xml
+++ b/system/emergency_handler/package.xml
@@ -18,8 +18,8 @@
<depend>autoware_auto_vehicle_msgs</depend>
<depend>nav_msgs</depend>
<depend>rclcpp</depend>
- <depend>std_msgs</depend>
- <depend>std_srvs</depend>
+ <!-- <depend>std_msgs</depend> -->
+ <!-- <depend>std_srvs</depend> -->
<depend>tier4_system_msgs</depend>
<test_depend>ament_lint_auto</test_depend>
diff --git a/system/mrm_comfortable_stop_operator/package.xml b/system/mrm_comfortable_stop_operator/package.xml
index a108f52f4b..ddffdb6027 100644
--- a/system/mrm_comfortable_stop_operator/package.xml
+++ b/system/mrm_comfortable_stop_operator/package.xml
@@ -11,11 +11,11 @@
<build_depend>autoware_cmake</build_depend>
- <depend>autoware_adapi_v1_msgs</depend>
+ <!-- <depend>autoware_adapi_v1_msgs</depend> -->
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
- <depend>std_msgs</depend>
- <depend>std_srvs</depend>
+ <!-- <depend>std_msgs</depend> -->
+ <!-- <depend>std_srvs</depend> -->
<depend>tier4_planning_msgs</depend>
<depend>tier4_system_msgs</depend>
diff --git a/system/mrm_emergency_stop_operator/package.xml b/system/mrm_emergency_stop_operator/package.xml
index 0761a1cbb9..6e728587d6 100644
--- a/system/mrm_emergency_stop_operator/package.xml
+++ b/system/mrm_emergency_stop_operator/package.xml
@@ -11,12 +11,12 @@
<build_depend>autoware_cmake</build_depend>
- <depend>autoware_adapi_v1_msgs</depend>
+ <!-- <depend>autoware_adapi_v1_msgs</depend> -->
<depend>autoware_auto_control_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
- <depend>std_msgs</depend>
- <depend>std_srvs</depend>
+ <!-- <depend>std_msgs</depend> -->
+ <!-- <depend>std_srvs</depend> -->
<depend>tier4_system_msgs</depend>
<test_depend>ament_lint_auto</test_depend>
diff --git a/system/system_error_monitor/package.xml b/system/system_error_monitor/package.xml
index be25f799af..e2bc870cb1 100644
--- a/system/system_error_monitor/package.xml
+++ b/system/system_error_monitor/package.xml
@@ -18,7 +18,7 @@
<depend>fmt</depend>
<depend>rclcpp</depend>
<depend>std_srvs</depend>
- <depend>tier4_autoware_utils</depend>
+ <!-- <depend>tier4_autoware_utils</depend> -->
<depend>tier4_control_msgs</depend>
<exec_depend>diagnostic_aggregator</exec_depend>
diff --git a/system/system_monitor/package.xml b/system/system_monitor/package.xml
index bc4b040051..ba2136ef69 100644
--- a/system/system_monitor/package.xml
+++ b/system/system_monitor/package.xml
@@ -12,7 +12,7 @@
<build_depend>autoware_cmake</build_depend>
- <depend>diagnostic_msgs</depend>
+ <!-- <depend>diagnostic_msgs</depend> -->
<depend>diagnostic_updater</depend>
<depend>fmt</depend>
<depend>libboost-filesystem-dev</depend>
@@ -22,7 +22,7 @@
<depend>libnl-3-dev</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
- <depend>std_msgs</depend>
+ <!-- <depend>std_msgs</depend> -->
<depend>tier4_autoware_utils</depend>
<depend>tier4_external_api_msgs</depend>
diff --git a/system/topic_state_monitor/package.xml b/system/topic_state_monitor/package.xml
index 2707a74ff5..731432bc94 100644
--- a/system/topic_state_monitor/package.xml
+++ b/system/topic_state_monitor/package.xml
@@ -11,7 +11,7 @@
<build_depend>autoware_cmake</build_depend>
- <depend>ament_index_cpp</depend>
+ <!-- <depend>ament_index_cpp</depend> -->
<depend>diagnostic_updater</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
diff --git a/system/velodyne_monitor/package.xml b/system/velodyne_monitor/package.xml
index 9c6683511c..9370842e9d 100644
--- a/system/velodyne_monitor/package.xml
+++ b/system/velodyne_monitor/package.xml
@@ -11,13 +11,13 @@
<build_depend>autoware_cmake</build_depend>
- <depend>crypto++</depend>
- <depend>diagnostic_msgs</depend>
+ <!-- <depend>crypto++</depend> -->
+ <!-- <depend>diagnostic_msgs</depend> -->
<depend>diagnostic_updater</depend>
<depend>fmt</depend>
<depend>libcpprest-dev</depend>
<depend>rclcpp</depend>
- <depend>std_msgs</depend>
+ <!-- <depend>std_msgs</depend> -->
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
diff --git a/tools/simulator_test/simulator_compatibility_test/package.xml b/tools/simulator_test/simulator_compatibility_test/package.xml
index ffc679ef29..3daf4347c0 100644
--- a/tools/simulator_test/simulator_compatibility_test/package.xml
+++ b/tools/simulator_test/simulator_compatibility_test/package.xml
@@ -7,15 +7,15 @@
<maintainer email="shpark@morai.ai">shpark</maintainer>
<license>TODO: License declaration</license>
- <depend>autoware_auto_control_msgs</depend>
- <depend>autoware_auto_geometry_msgs</depend>
- <depend>autoware_auto_mapping_msgs</depend>
- <depend>autoware_auto_msgs</depend>
- <depend>autoware_auto_perception_msgs</depend>
- <depend>autoware_auto_planning_msgs</depend>
- <depend>autoware_auto_system_msgs</depend>
- <depend>autoware_auto_vehicle_msgs</depend>
- <depend>rclpy</depend>
+ <!-- <depend>autoware_auto_control_msgs</depend> -->
+ <!-- <depend>autoware_auto_geometry_msgs</depend> -->
+ <!-- <depend>autoware_auto_mapping_msgs</depend> -->
+ <!-- <depend>autoware_auto_msgs</depend> -->
+ <!-- <depend>autoware_auto_perception_msgs</depend> -->
+ <!-- <depend>autoware_auto_planning_msgs</depend> -->
+ <!-- <depend>autoware_auto_system_msgs</depend> -->
+ <!-- <depend>autoware_auto_vehicle_msgs</depend> -->
+ <!-- <depend>rclpy</depend> -->
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
diff --git a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/package.xml b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/package.xml
index 8163a12098..ea31401a51 100644
--- a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/package.xml
+++ b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/package.xml
@@ -21,14 +21,14 @@
<depend>raw_vehicle_cmd_converter</depend>
<depend>rclcpp</depend>
<depend>std_msgs</depend>
- <depend>std_srvs</depend>
+ <!-- <depend>std_srvs</depend> -->
<depend>tf2_geometry_msgs</depend>
- <depend>tf2_ros</depend>
+ <!-- <depend>tf2_ros</depend> -->
<depend>tier4_autoware_utils</depend>
<depend>tier4_debug_msgs</depend>
<depend>tier4_external_api_msgs</depend>
<depend>tier4_vehicle_msgs</depend>
- <depend>visualization_msgs</depend>
+ <!-- <depend>visualization_msgs</depend> -->
<exec_depend>python3-matplotlib</exec_depend>
<exec_depend>python3-pandas</exec_depend>
diff --git a/vehicle/external_cmd_converter/package.xml b/vehicle/external_cmd_converter/package.xml
index af7200c6f5..d12223e692 100644
--- a/vehicle/external_cmd_converter/package.xml
+++ b/vehicle/external_cmd_converter/package.xml
@@ -16,15 +16,15 @@
<depend>autoware_auto_control_msgs</depend>
<depend>autoware_auto_vehicle_msgs</depend>
<depend>diagnostic_updater</depend>
- <depend>geometry_msgs</depend>
+ <!-- <depend>geometry_msgs</depend> -->
<depend>nav_msgs</depend>
<depend>raw_vehicle_cmd_converter</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
- <depend>std_msgs</depend>
+ <!-- <depend>std_msgs</depend> -->
<depend>tier4_control_msgs</depend>
<depend>tier4_external_api_msgs</depend>
- <depend>tier4_system_msgs</depend>
+ <!-- <depend>tier4_system_msgs</depend> -->
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
diff --git a/vehicle/steer_offset_estimator/package.xml b/vehicle/steer_offset_estimator/package.xml
index f2c01c9fb2..640f6e00fc 100644
--- a/vehicle/steer_offset_estimator/package.xml
+++ b/vehicle/steer_offset_estimator/package.xml
@@ -14,8 +14,8 @@
<depend>geometry_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
- <depend>std_msgs</depend>
- <depend>tier4_autoware_utils</depend>
+ <!-- <depend>std_msgs</depend> -->
+ <!-- <depend>tier4_autoware_utils</depend> -->
<depend>tier4_debug_msgs</depend>
<depend>vehicle_info_util</depend>
<exec_depend>global_parameter_loader</exec_depend>
=== src/universe/external/eagleye (git) ===
diff --git a/eagleye_core/coordinate/package.xml b/eagleye_core/coordinate/package.xml
index 3f09d4c..4a03e78 100644
--- a/eagleye_core/coordinate/package.xml
+++ b/eagleye_core/coordinate/package.xml
@@ -13,7 +13,7 @@
<build_depend>geodesy</build_depend>
<build_export_depend>rclcpp</build_export_depend>
<build_export_depend>geodesy</build_export_depend>
- <depend>geographic_info</depend>
+ <!-- <depend>geographic_info</depend> -->
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
=== src/universe/external/llh_converter (git) ===
=== src/universe/external/morai_msgs (git) ===
=== src/universe/external/muSSP (git) ===
=== src/universe/external/ndt_omp (git) ===
=== src/universe/external/pointcloud_to_laserscan (git) ===
diff --git a/package.xml b/package.xml
index f199e82..9415582 100644
--- a/package.xml
+++ b/package.xml
@@ -19,13 +19,13 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<depend>laser_geometry</depend>
- <depend>libpcl-all-dev</depend>
+ <!-- <depend>libpcl-all-dev</depend> -->
<depend>message_filters</depend>
<depend>pcl_conversions</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>sensor_msgs</depend>
- <depend>tf2</depend>
+ <!-- <depend>tf2</depend> -->
<depend>tf2_ros</depend>
<depend>tf2_sensor_msgs</depend>
<depend>visualization_msgs</depend>
=== src/universe/external/rtklib_ros_bridge (git) ===
diff --git a/rtklib_msgs/package.xml b/rtklib_msgs/package.xml
index 9e82a56..5c4070c 100644
--- a/rtklib_msgs/package.xml
+++ b/rtklib_msgs/package.xml
@@ -10,7 +10,7 @@
<buildtool_depend>ament_cmake</buildtool_depend>
<build_depend>rosidl_default_generators</build_depend>
- <depend>builtin_interfaces</depend>
+ <!-- <depend>builtin_interfaces</depend> -->
<depend>std_msgs</depend>
<depend>geometry_msgs</depend>
<depend>sensor_msgs</depend>
=== src/universe/external/tier4_ad_api_adaptor (git) ===
diff --git a/autoware_iv_internal_api_adaptor/package.xml b/autoware_iv_internal_api_adaptor/package.xml
index 9f4f6cb..c772302 100644
--- a/autoware_iv_internal_api_adaptor/package.xml
+++ b/autoware_iv_internal_api_adaptor/package.xml
@@ -16,15 +16,15 @@
<depend>autoware_auto_planning_msgs</depend>
<depend>autoware_auto_system_msgs</depend>
<depend>autoware_auto_vehicle_msgs</depend>
- <depend>geometry_msgs</depend>
+ <!-- <depend>geometry_msgs</depend> -->
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
- <depend>std_srvs</depend>
+ <!-- <depend>std_srvs</depend> -->
<depend>tier4_api_utils</depend>
<depend>tier4_auto_msgs_converter</depend>
<depend>tier4_control_msgs</depend>
<depend>tier4_external_api_msgs</depend>
- <depend>tier4_localization_msgs</depend>
+ <!-- <depend>tier4_localization_msgs</depend> -->
<depend>tier4_perception_msgs</depend>
<depend>tier4_planning_msgs</depend>
<depend>tier4_system_msgs</depend>
diff --git a/awapi_awiv_adapter/package.xml b/awapi_awiv_adapter/package.xml
index 2a723eb..630faf4 100644
--- a/awapi_awiv_adapter/package.xml
+++ b/awapi_awiv_adapter/package.xml
@@ -21,13 +21,13 @@
<depend>nav_msgs</depend>
<depend>rclcpp</depend>
<depend>sensor_msgs</depend>
- <depend>std_msgs</depend>
+ <!-- <depend>std_msgs</depend> -->
<depend>tf2</depend>
<depend>tf2_geometry_msgs</depend>
<depend>tier4_api_msgs</depend>
<depend>tier4_auto_msgs_converter</depend>
<depend>tier4_control_msgs</depend>
- <depend>tier4_external_api_msgs</depend>
+ <!-- <depend>tier4_external_api_msgs</depend> -->
<depend>tier4_planning_msgs</depend>
<depend>tier4_system_msgs</depend>
<depend>tier4_v2x_msgs</depend>
=== src/universe/external/tier4_autoware_msgs (git) ===
diff --git a/tier4_auto_msgs_converter/package.xml b/tier4_auto_msgs_converter/package.xml
index 50a55eb..ff28cd8 100644
--- a/tier4_auto_msgs_converter/package.xml
+++ b/tier4_auto_msgs_converter/package.xml
@@ -16,6 +16,7 @@
<depend>tier4_perception_msgs</depend>
<depend>tier4_planning_msgs</depend>
<depend>tier4_system_msgs</depend>
+ <depend>tier4_external_api_msgs</depend>
<depend>tier4_vehicle_msgs</depend>
<test_depend>ament_lint_auto</test_depend>
diff --git a/tier4_control_msgs/CMakeLists.txt b/tier4_control_msgs/CMakeLists.txt
index 95f272d..e5825e9 100644
--- a/tier4_control_msgs/CMakeLists.txt
+++ b/tier4_control_msgs/CMakeLists.txt
@@ -23,7 +23,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
"srv/SetPause.srv"
DEPENDENCIES
autoware_common_msgs
- std_msgs
+ builtin_interfaces
+ # std_msgs
)
if(BUILD_TESTING)
diff --git a/tier4_control_msgs/package.xml b/tier4_control_msgs/package.xml
index 045c43c..8a03af9 100644
--- a/tier4_control_msgs/package.xml
+++ b/tier4_control_msgs/package.xml
@@ -12,7 +12,8 @@
<build_depend>rosidl_default_generators</build_depend>
<depend>autoware_common_msgs</depend>
- <depend>std_msgs</depend>
+ <depend>builtin_interfaces</depend>
+ <!-- <depend>std_msgs</depend> -->
<exec_depend>rosidl_default_runtime</exec_depend>
diff --git a/tier4_localization_msgs/package.xml b/tier4_localization_msgs/package.xml
index 960d37f..f1f4347 100644
--- a/tier4_localization_msgs/package.xml
+++ b/tier4_localization_msgs/package.xml
@@ -11,7 +11,7 @@
<build_depend>rosidl_default_generators</build_depend>
- <depend>builtin_interfaces</depend>
+ <!-- <depend>builtin_interfaces</depend> -->
<depend>geometry_msgs</depend>
<exec_depend>rosidl_default_runtime</exec_depend>
diff --git a/tier4_perception_msgs/package.xml b/tier4_perception_msgs/package.xml
index 36776fb..401edee 100644
--- a/tier4_perception_msgs/package.xml
+++ b/tier4_perception_msgs/package.xml
@@ -12,7 +12,7 @@
<build_depend>rosidl_default_generators</build_depend>
<depend>autoware_auto_perception_msgs</depend>
- <depend>builtin_interfaces</depend>
+ <!-- <depend>builtin_interfaces</depend> -->
<depend>geometry_msgs</depend>
<depend>sensor_msgs</depend>
<depend>std_msgs</depend>
diff --git a/tier4_planning_msgs/CMakeLists.txt b/tier4_planning_msgs/CMakeLists.txt
index 405d02d..d3d8786 100644
--- a/tier4_planning_msgs/CMakeLists.txt
+++ b/tier4_planning_msgs/CMakeLists.txt
@@ -46,7 +46,6 @@ rosidl_generate_interfaces(${PROJECT_NAME}
geometry_msgs
nav_msgs
std_msgs
- unique_identifier_msgs
)
if(BUILD_TESTING)
diff --git a/tier4_planning_msgs/package.xml b/tier4_planning_msgs/package.xml
index af298ef..ddd9c25 100644
--- a/tier4_planning_msgs/package.xml
+++ b/tier4_planning_msgs/package.xml
@@ -15,7 +15,7 @@
<depend>geometry_msgs</depend>
<depend>nav_msgs</depend>
<depend>std_msgs</depend>
- <depend>unique_identifier_msgs</depend>
+ <!-- <depend>unique_identifier_msgs</depend> -->
<exec_depend>rosidl_default_runtime</exec_depend>
diff --git a/tier4_simulation_msgs/CMakeLists.txt b/tier4_simulation_msgs/CMakeLists.txt
index de8e38a..92905f7 100644
--- a/tier4_simulation_msgs/CMakeLists.txt
+++ b/tier4_simulation_msgs/CMakeLists.txt
@@ -20,7 +20,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
msg/SimulationEvents.msg
msg/UserDefinedValue.msg
msg/UserDefinedValueType.msg
- DEPENDENCIES builtin_interfaces std_msgs)
+ DEPENDENCIES builtin_interfaces# std_msgs
+ )
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
diff --git a/tier4_simulation_msgs/package.xml b/tier4_simulation_msgs/package.xml
index e90d19e..1ea65e9 100644
--- a/tier4_simulation_msgs/package.xml
+++ b/tier4_simulation_msgs/package.xml
@@ -13,7 +13,7 @@
<buildtool_depend>rosidl_default_generators</buildtool_depend>
<depend>builtin_interfaces</depend>
- <depend>std_msgs</depend>
+ <!-- <depend>std_msgs</depend> -->
<exec_depend>rosidl_default_runtime</exec_depend>
diff --git a/tier4_v2x_msgs/CMakeLists.txt b/tier4_v2x_msgs/CMakeLists.txt
index 013cabf..007d319 100644
--- a/tier4_v2x_msgs/CMakeLists.txt
+++ b/tier4_v2x_msgs/CMakeLists.txt
@@ -21,7 +21,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
"msg/VirtualTrafficLightState.msg"
"msg/VirtualTrafficLightStateArray.msg"
DEPENDENCIES
- std_msgs
+ builtin_interfaces
+ # std_msgs
)
if(BUILD_TESTING)
diff --git a/tier4_v2x_msgs/package.xml b/tier4_v2x_msgs/package.xml
index d39a78e..57a2c56 100644
--- a/tier4_v2x_msgs/package.xml
+++ b/tier4_v2x_msgs/package.xml
@@ -12,7 +12,7 @@
<build_depend>rosidl_default_generators</build_depend>
<depend>builtin_interfaces</depend>
- <depend>std_msgs</depend>
+ <!-- <depend>std_msgs</depend> -->
<exec_depend>rosidl_default_runtime</exec_depend>
diff --git a/tier4_vehicle_msgs/CMakeLists.txt b/tier4_vehicle_msgs/CMakeLists.txt
index e7cefb9..50d7996 100644
--- a/tier4_vehicle_msgs/CMakeLists.txt
+++ b/tier4_vehicle_msgs/CMakeLists.txt
@@ -25,7 +25,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
"msg/SteeringWheelStatusStamped.msg"
"msg/VehicleEmergencyStamped.msg"
"srv/UpdateAccelBrakeMap.srv"
- DEPENDENCIES std_msgs geometry_msgs tier4_control_msgs
+ DEPENDENCIES std_msgs #geometry_msgs tier4_control_msgs
)
if(BUILD_TESTING)
diff --git a/tier4_vehicle_msgs/package.xml b/tier4_vehicle_msgs/package.xml
index 40b1d2c..a943c22 100644
--- a/tier4_vehicle_msgs/package.xml
+++ b/tier4_vehicle_msgs/package.xml
@@ -11,9 +11,9 @@
<build_depend>rosidl_default_generators</build_depend>
- <depend>geometry_msgs</depend>
+ <!-- <depend>geometry_msgs</depend> -->
<depend>std_msgs</depend>
- <depend>tier4_control_msgs</depend>
+ <!-- <depend>tier4_control_msgs</depend> -->
<exec_depend>rosidl_default_runtime</exec_depend>
=== src/vehicle/external/pacmod_interface (git) ===
=== src/vehicle/sample_vehicle_launch (git) ===
@VRichardJP Good work!
I haven't looked through all the items in the list, but at least for lanelet2_extension, it should be using geographiclib
. Likewise, there could be some non-ROS package (what you call "system dependencies" in your script) that shouldn't be removed from the dependencies.
@mitsudome-r
Thank you for pointing out geographiclib
, indeed the library is not unused.
Btw, "system dependencies" is how ROS call them ^^
I would like to take on this and how may I start. A little example would be helpful
Recent result of unused_deps.sh
run on main
branch
I updated some of the recent including style of autoware sources which appears in the result of above comment for unused_deps.sh
.
Basically, the rule is like autoware_motion_utils
-> autoware/motion_utils
, so it may possible to automatically generate the regular expressions.
... well, some of them seems still with autoware_*
.
Would it make sense to have this script somewhere like https://github.com/autowarefoundation/autoware_tools?
Would it make sense to have this script somewhere like https://github.com/autowarefoundation/autoware_tools?
I think it is a good idea!
@youtalk @mitsudome-r What do you think?
@YamatoAndo Please make the PR. I would like to review it.
@youtalk Sure! I will collaborate with @a-maumau to make the PR.
@youtalk @VRichardJP I made a PR for the script in autoware_tools: https://github.com/autowarefoundation/autoware_tools/pull/89
sorry, I don't have the authority to assign the assigners so if possible, please assign youself.
Checklist
Description
Building Autoware takes time, but it is not just because there are a lot of files to compile. Building time also increases when packages have more dependencies than they should, because:
Every now and then, I think it is important to clean the
packages.xml
files and remove unused dependencies.Purpose
Improve build time.
Possible approaches
This is a very tedious and annoying job. I wrote a simple script that try to list seemingly unused
<depend>
packages:Obviously no script would ever be perfect. It may detect false positive or miss some. Furthermore, removing unused dependencies could break downstream packages if they did not declare their own dependencies correctly.
Running this script on
main
branch source tree give me 297 unused packages. That is a lot of work, but I think it is worth cleaning:Definition of done
No more unused dependencies listed in
package.xml
files.