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Autoware - the world's leading open-source software project for autonomous driving
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Clean unused dependencies to improve build time #3468

Open VRichardJP opened 1 year ago

VRichardJP commented 1 year ago

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:

#!/bin/bash
# This script find recursively all package.xml in the src/ subdirectory
# Then check if all package marked <depend> are effectly used somewhere in the package.
# Packages marked <depend> normally either provide shared libraries or custom messages

# Packages that should always be <buildtool_depend>, not <depend>
KNOWN_BUILDTOOLS="rosidl_default_generators;autoware_cmake;eigen3_cmake_module"

pkgs=$(find src -name "package.xml")
for pkg in $pkgs; do
  echo "--- Checking $pkg ---"
  # Get all packages marked <depend>. For example:
  #   <depend>dep_name</depend>
  deps=$(grep -oP '^\s*<depend>\K[^<]+' $pkg)
  dir=$(dirname $pkg)

  if [[ ! -f "$dir/CMakeLists.txt" ]]; then
    echo "Skipping package with no CMakeLists.txt (is python package?)"
    echo ""
    continue
  fi

  for dep in $deps; do
    # filter out buildtools (should not use <depend>)
    if [[ $(echo "$KNOWN_BUILDTOOLS" | grep "$dep" | wc -l) -ne 0 ]]; then
      echo "$dep should be rather be marked as <buildtool_depend>, not <depend>"
      continue
    fi

    # filter out ament stuff (should not use <depend>)
    if [[ "$dep" =~ ament_.*$ ]]; then
      echo "$dep should be rather be marked as either <build_depend> or <test_depend>, not <depend>"
      continue
    fi

    # filter out python stuff (should not use <depend>)
    if [[ "$dep" =~ python-.*$ ]]; then
      echo "$dep should be rather be marked as either <build_depend> or <test_depend>, not <depend>"
      continue
    fi

    # By convention, dependency headers must be prefixed with the package name. For Example:
    # tier4_autoware_utils/geometry/geometry.hpp
    header_regex="$dep/.*"

    # System dependencies don't follow this rule. They all have custom names.
    [[ "$dep" =~ libpcl-.*$ ]] && header_regex="pcl/.*"
    [[ "$dep" =~ libboost-.*$ ]] && header_regex="boost/.*"
    [[ "$dep" =~ libqt5-.*$ ]] && header_regex="Q.*"
    [[ "$dep" == "qtbase5-dev" ]] && header_regex="Q.*"
    [[ "$dep" == "libopencv-dev" ]] && header_regex="opencv2/.*"
    [[ "$dep" == "pugixml-dev" ]] && header_regex="pugixml.hpp"
    [[ "$dep" == "yaml_cpp_vendor" ]] && header_regex="yaml-cpp/yaml.h"
    [[ "$dep" == "nlohmann-json-dev" ]] && header_regex="nlohmann/json.hpp"
    [[ "$dep" == "range-v3" ]] && header_regex="range/v3/.*"
    [[ "$dep" == "libcpprest-dev" ]] && header_regex="cpprest/.*"
    [[ "$dep" == "eigen" ]] && header_regex="Eigen/.*"
    [[ "$dep" == "libnl-3-dev" ]] && header_regex="netlink/.*"
    [[ "$dep" == "libpcap" ]] && header_regex="pcap.h"
    [[ "$dep" == "cgal" ]] && header_regex="CGAL/.*"
    [[ "$dep" == "osqp_vendor" ]] && header_regex="osqp/.*"
    [[ "$dep" == "magic_enum" ]] && header_regex="magic_enum.hpp"
    [[ "$dep" == "geographiclib" ]] && header_regex="GeographicLib/.*"
    # Some autoware packages don't follow the convention either...
    [[ "$dep" == "autoware_auto_common" ]] && header_regex="(common|helper_functions)/.*"
    [[ "$dep" == "ndt_omp" ]] && header_regex="(pclomp|multigrid_pclomp)/.*"
    [[ "$dep" == "planning_test_utils" ]] && header_regex="planning_interface_test_manager/.*"

    # Add more as needed...

    # Look for C/C++ includes. For example:
    # #include "tier4_autoware_utils/geometry/geometry.hpp"
    # Note: whether these includes are actually useful is out-of-scope of this script
    # There are many great tools for that.
    include_regex="^#include [<\"]$header_regex[>\"]"

    # Dependencies defining custom messages may also be re-used in other messages or services
    # By convention, these packages must be named "*_msgs", excepted for "builtin_interfaces"
    if [[ "$dep" =~ .*_msgs$ ]] || [[ "$dep" == "builtin_interfaces" ]]; then
      grep -wIPrq "$dep" "$dir" --include \*.msg --include \*.srv --include \*.idl
      [[ $? -eq 0 ]] && continue  # found!
    fi

    # Check if the dependency is included anywhere in the source files
    grep -wIPrq "$include_regex" "$dir" \
      --include \*.c --include \*.cc --include \*.cpp --include \*.h --include \*.hpp 
    [[ $? -eq 0 ]] && continue  # found!

    echo "$dep seems not to be used"

    # /!\ WARNING - DANGEROUS /!\
    # Uncomment to delete unused dependency!
    # sed -i "/<depend>$dep<\/depend>/d" $pkg
  done
  echo ""
done

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:

$ ./unused_deps.sh
--- Checking src/core/autoware_common/autoware_lint_common/package.xml ---

--- Checking src/core/autoware_common/autoware_cmake/package.xml ---

--- Checking src/core/autoware_common/tmp/lanelet2_extension/package.xml ---
autoware_auto_planning_msgs seems not to be used
geographiclib seems not to be used
lanelet2_maps seems not to be used
lanelet2_validation seems not to be used

--- Checking src/core/autoware_common/autoware_utils/package.xml ---
builtin_interfaces seems not to be used

--- Checking src/core/autoware_adapi_msgs/autoware_adapi_v1_msgs/package.xml ---

--- Checking src/core/autoware_adapi_msgs/autoware_adapi_version_msgs/package.xml ---

--- Checking src/core/autoware_msgs/autoware_sensing_msgs/package.xml ---

--- Checking src/core/autoware_msgs/autoware_localization_msgs/package.xml ---

--- Checking src/core/autoware_msgs/autoware_common_msgs/package.xml ---
rosidl_default_generators should be marked as <buildtool_depend>, not <depend>

--- Checking src/core/autoware_msgs/autoware_perception_msgs/package.xml ---
rosidl_default_generators should be marked as <buildtool_depend>, not <depend>

--- Checking src/core/autoware_msgs/autoware_control_msgs/package.xml ---

--- Checking src/core/autoware_msgs/autoware_map_msgs/package.xml ---

--- Checking src/core/autoware_msgs/autoware_planning_msgs/package.xml ---

--- Checking src/core/external/autoware_auto_msgs/autoware_auto_perception_msgs/package.xml ---

--- Checking src/core/external/autoware_auto_msgs/autoware_auto_control_msgs/package.xml ---
std_msgs seems not to be used

--- Checking src/core/external/autoware_auto_msgs/autoware_auto_msgs/package.xml ---

--- Checking src/core/external/autoware_auto_msgs/autoware_auto_vehicle_msgs/package.xml ---

--- Checking src/core/external/autoware_auto_msgs/autoware_auto_system_msgs/package.xml ---
std_msgs seems not to be used

--- Checking src/core/external/autoware_auto_msgs/autoware_auto_planning_msgs/package.xml ---
autoware_auto_geometry_msgs seems not to be used
action_msgs seems not to be used

...

Definition of done

No more unused dependencies listed in package.xml files.

TakaHoribe commented 1 year ago

So great…!

simon-t4 commented 1 year ago

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?

VRichardJP commented 1 year ago

@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".

VRichardJP commented 1 year ago

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) ===
mitsudome-r commented 1 year ago

@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.

VRichardJP commented 1 year ago

@mitsudome-r Thank you for pointing out geographiclib, indeed the library is not unused.

Btw, "system dependencies" is how ROS call them ^^

mdabir1203 commented 1 year ago

I would like to take on this and how may I start. A little example would be helpful

a-maumau commented 1 month ago

Recent result of unused_deps.sh run on main branch

results (package.xml file without unused message is filtered out) ```Text --- Checking src/universe/autoware.universe/evaluator/autoware_control_evaluator/package.xml --- autoware_evaluator_utils seems not to be used autoware_motion_utils seems not to be used autoware_route_handler seems not to be used autoware_universe_utils seems not to be used pluginlib seems not to be used --- Checking src/universe/autoware.universe/evaluator/autoware_planning_evaluator/package.xml --- autoware_evaluator_utils seems not to be used autoware_motion_utils seems not to be used autoware_route_handler seems not to be used autoware_universe_utils seems not to be used eigen should be rather be marked as , not pluginlib seems not to be used tf2 seems not to be used --- Checking src/universe/autoware.universe/evaluator/autoware_evaluator_utils/package.xml --- rclcpp_components seems not to be used --- Checking src/universe/autoware.universe/evaluator/diagnostic_converter/package.xml --- pluginlib seems not to be used --- Checking src/universe/autoware.universe/evaluator/kinematic_evaluator/package.xml --- autoware_planning_msgs seems not to be used autoware_universe_utils seems not to be used eigen should be rather be marked as , not tf2 seems not to be used --- Checking src/universe/autoware.universe/evaluator/perception_online_evaluator/package.xml --- autoware_lanelet2_extension seems not to be used autoware_motion_utils seems not to be used autoware_universe_utils seems not to be used eigen should be rather be marked as , not pluginlib seems not to be used tf2 seems not to be used --- Checking src/universe/autoware.universe/evaluator/localization_evaluator/package.xml --- autoware_planning_msgs seems not to be used autoware_universe_utils seems not to be used eigen should be rather be marked as , not tf2 seems not to be used --- Checking src/universe/autoware.universe/vehicle/autoware_external_cmd_converter/package.xml --- geometry_msgs seems not to be used std_msgs seems not to be used tier4_system_msgs seems not to be used --- Checking src/universe/autoware.universe/vehicle/autoware_accel_brake_map_calibrator/package.xml --- autoware_motion_utils seems not to be used autoware_universe_utils seems not to be used std_srvs seems not to be used tf2_ros seems not to be used --- Checking src/universe/autoware.universe/vehicle/autoware_steer_offset_estimator/package.xml --- autoware_universe_utils seems not to be used std_msgs seems not to be used --- Checking src/universe/autoware.universe/vehicle/autoware_vehicle_info_utils/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/sensing/livox/autoware_livox_tag_filter/package.xml --- libpcl-all-dev seems not to be used --- Checking src/universe/autoware.universe/sensing/pointcloud_preprocessor/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/sensing/radar_static_pointcloud_filter/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/sensing/image_diagnostics/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/sensing/gnss_poser/package.xml --- geographic_msgs seems not to be used geographiclib seems not to be used --- Checking src/universe/autoware.universe/sensing/imu_corrector/package.xml --- autoware_universe_utils seems not to be used tf2 seems not to be used --- Checking src/universe/autoware.universe/sensing/radar_tracks_noise_filter/package.xml --- geometry_msgs seems not to be used --- Checking src/universe/autoware.universe/common/fake_test_node/package.xml --- ament_cmake_ros should be rather be marked as either or , not autoware_auto_common seems not to be used rclcpp_components seems not to be used tf2 seems not to be used --- Checking src/universe/autoware.universe/common/tier4_system_rviz_plugin/package.xml --- autoware_universe_utils seems not to be used rviz_default_plugins seems not to be used rviz_ogre_vendor seems not to be used --- Checking src/universe/autoware.universe/common/tier4_state_rviz_plugin/package.xml --- tier4_control_msgs seems not to be used --- Checking src/universe/autoware.universe/common/autoware_auto_common/package.xml --- eigen should be rather be marked as , not --- Checking src/universe/autoware.universe/common/tier4_localization_rviz_plugin/package.xml --- libqt5-core seems not to be used libqt5-gui seems not to be used libqt5-widgets seems not to be used qtbase5-dev seems not to be used rclcpp seems not to be used rviz_default_plugins seems not to be used tf2_ros seems not to be used --- Checking src/universe/autoware.universe/common/autoware_motion_utils/package.xml --- autoware_universe_utils seems not to be used autoware_vehicle_msgs seems not to be used builtin_interfaces seems not to be used tf2_geometry_msgs seems not to be used --- Checking src/universe/autoware.universe/common/component_interface_specs/package.xml --- rcl seems not to be used rosidl_runtime_cpp seems not to be used --- Checking src/universe/autoware.universe/common/tier4_planning_rviz_plugin/package.xml --- autoware_motion_utils seems not to be used autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/common/traffic_light_recognition_marker_publisher/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/common/autoware_universe_utils/package.xml --- autoware_vehicle_msgs seems not to be used builtin_interfaces seems not to be used pcl_ros seems not to be used --- Checking src/universe/autoware.universe/common/tier4_vehicle_rviz_plugin/package.xml --- autoware_universe_utils seems not to be used rviz_default_plugins seems not to be used rviz_ogre_vendor seems not to be used --- Checking src/universe/autoware.universe/common/goal_distance_calculator/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/common/autoware_test_utils/package.xml --- autoware_control_msgs seems not to be used autoware_perception_msgs seems not to be used autoware_universe_utils seems not to be used autoware_vehicle_msgs seems not to be used component_interface_utils seems not to be used tier4_api_msgs seems not to be used tier4_v2x_msgs seems not to be used --- Checking src/universe/autoware.universe/common/autoware_point_types/package.xml --- ament_cmake_copyright should be rather be marked as either or , not ament_cmake_cppcheck should be rather be marked as either or , not ament_cmake_lint_cmake should be rather be marked as either or , not ament_cmake_xmllint should be rather be marked as either or , not pcl_ros seems not to be used --- Checking src/universe/autoware.universe/common/tvm_utility/package.xml --- ament_index_cpp should be rather be marked as either or , not libopenblas-dev seems not to be used --- Checking src/universe/autoware.universe/common/autoware_grid_map_utils/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/common/qp_interface/package.xml --- eigen should be rather be marked as , not rclcpp_components seems not to be used --- Checking src/universe/autoware.universe/common/component_interface_utils/package.xml --- rclcpp_components seems not to be used --- Checking src/universe/autoware.universe/common/object_recognition_utils/package.xml --- autoware_universe_utils seems not to be used pcl_conversions seems not to be used rclcpp seems not to be used std_msgs seems not to be used tf2 seems not to be used --- Checking src/universe/autoware.universe/common/bag_time_manager_rviz_plugin/package.xml --- libqt5-core seems not to be used libqt5-gui seems not to be used libqt5-widgets seems not to be used qtbase5-dev seems not to be used --- Checking src/universe/autoware.universe/common/tier4_camera_view_rviz_plugin/package.xml --- autoware_ad_api_specs seems not to be used component_interface_utils seems not to be used geometry_msgs seems not to be used rclcpp seems not to be used --- Checking src/universe/autoware.universe/common/traffic_light_utils/package.xml --- autoware_lanelet2_extension seems not to be used --- Checking src/universe/autoware.universe/common/osqp_interface/package.xml --- eigen should be rather be marked as , not rclcpp_components seems not to be used --- Checking src/universe/autoware.universe/common/interpolation/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml --- boost seems not to be used rviz_ogre_vendor seems not to be used --- Checking src/universe/autoware.universe/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml --- boost seems not to be used rviz_ogre_vendor seems not to be used --- Checking src/universe/autoware.universe/common/polar_grid/package.xml --- libqt5-core seems not to be used libqt5-gui seems not to be used libqt5-widgets seems not to be used qtbase5-dev seems not to be used rviz_default_plugins seems not to be used rviz_ogre_vendor seems not to be used --- Checking src/universe/autoware.universe/common/path_distance_calculator/package.xml --- autoware_motion_utils seems not to be used autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/control/autoware_smart_mpc_trajectory_follower/package.xml --- autoware_adapi_v1_msgs seems not to be used autoware_control_msgs seems not to be used autoware_motion_utils seems not to be used autoware_planning_msgs seems not to be used autoware_system_msgs seems not to be used autoware_universe_utils seems not to be used autoware_vehicle_msgs seems not to be used pybind11_vendor seems not to be used python3-scipy seems not to be used rclcpp seems not to be used rclcpp_components seems not to be used --- Checking src/universe/autoware.universe/control/autoware_lane_departure_checker/package.xml --- autoware_motion_utils seems not to be used autoware_universe_utils seems not to be used eigen should be rather be marked as , not tf2_eigen seems not to be used tf2_geometry_msgs seems not to be used tf2_ros seems not to be used --- Checking src/universe/autoware.universe/control/autoware_vehicle_cmd_gate/package.xml --- autoware_motion_utils seems not to be used autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/control/autoware_joy_controller/package.xml --- autoware_universe_utils seems not to be used joy seems not to be used std_srvs seems not to be used --- Checking src/universe/autoware.universe/control/autoware_mpc_lateral_controller/package.xml --- autoware_motion_utils seems not to be used autoware_trajectory_follower_base seems not to be used autoware_universe_utils seems not to be used diagnostic_msgs seems not to be used eigen should be rather be marked as , not rclcpp_components seems not to be used std_msgs seems not to be used --- Checking src/universe/autoware.universe/control/obstacle_collision_checker/package.xml --- autoware_universe_utils seems not to be used eigen should be rather be marked as , not std_msgs seems not to be used tf2_geometry_msgs seems not to be used tf2_ros seems not to be used --- Checking src/universe/autoware.universe/control/autoware_trajectory_follower_node/package.xml --- autoware_motion_utils seems not to be used autoware_mpc_lateral_controller seems not to be used autoware_pid_longitudinal_controller seems not to be used autoware_pure_pursuit seems not to be used autoware_trajectory_follower_base seems not to be used autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/control/autoware_shift_decider/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/control/autoware_control_validator/package.xml --- autoware_motion_utils seems not to be used autoware_universe_utils seems not to be used geometry_msgs seems not to be used --- Checking src/universe/autoware.universe/control/autoware_external_cmd_selector/package.xml --- geometry_msgs seems not to be used std_msgs seems not to be used --- Checking src/universe/autoware.universe/control/autoware_trajectory_follower_base/package.xml --- autoware_motion_utils seems not to be used autoware_universe_utils seems not to be used autoware_vehicle_info_utils seems not to be used diagnostic_msgs seems not to be used diagnostic_updater seems not to be used eigen should be rather be marked as , not interpolation seems not to be used osqp_interface seems not to be used rclcpp_components seems not to be used std_msgs seems not to be used tf2 seems not to be used tf2_ros seems not to be used tier4_debug_msgs seems not to be used --- Checking src/universe/autoware.universe/control/autoware_operation_mode_transition_manager/package.xml --- autoware_motion_utils seems not to be used autoware_universe_utils seems not to be used geometry_msgs seems not to be used std_srvs seems not to be used tier4_vehicle_msgs seems not to be used --- Checking src/universe/autoware.universe/control/predicted_path_checker/package.xml --- autoware_motion_utils seems not to be used autoware_universe_utils seems not to be used eigen should be rather be marked as , not sensor_msgs seems not to be used std_msgs seems not to be used tf2 seems not to be used tier4_control_msgs seems not to be used tier4_planning_msgs seems not to be used --- Checking src/universe/autoware.universe/control/autoware_autonomous_emergency_braking/package.xml --- autoware_control_msgs seems not to be used autoware_motion_utils seems not to be used autoware_universe_utils seems not to be used pointcloud_preprocessor seems not to be used std_msgs seems not to be used --- Checking src/universe/autoware.universe/control/autoware_pure_pursuit/package.xml --- autoware_motion_utils seems not to be used autoware_trajectory_follower_base seems not to be used autoware_universe_utils seems not to be used sensor_msgs seems not to be used std_msgs seems not to be used --- Checking src/universe/autoware.universe/control/control_performance_analysis/package.xml --- autoware_motion_utils seems not to be used autoware_universe_utils seems not to be used sensor_msgs seems not to be used tf2_eigen seems not to be used tf2_ros seems not to be used tier4_debug_msgs seems not to be used --- Checking src/universe/autoware.universe/control/autoware_pid_longitudinal_controller/package.xml --- autoware_motion_utils seems not to be used autoware_trajectory_follower_base seems not to be used autoware_universe_utils seems not to be used autoware_vehicle_msgs seems not to be used diagnostic_msgs seems not to be used eigen should be rather be marked as , not rclcpp_components seems not to be used std_msgs seems not to be used --- Checking src/universe/autoware.universe/perception/probabilistic_occupancy_grid_map/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/perception/image_projection_based_fusion/package.xml --- autoware_universe_utils seems not to be used euclidean_cluster seems not to be used --- Checking src/universe/autoware.universe/perception/autoware_radar_crossing_objects_noise_filter/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/perception/elevation_map_loader/package.xml --- autoware_universe_utils seems not to be used tf2_geometry_msgs seems not to be used tf2_ros seems not to be used --- Checking src/universe/autoware.universe/perception/occupancy_grid_map_outlier_filter/package.xml --- autoware_lanelet2_extension seems not to be used autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/perception/object_merger/package.xml --- autoware_universe_utils seems not to be used eigen should be rather be marked as , not --- Checking src/universe/autoware.universe/perception/euclidean_cluster/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/perception/autoware_radar_fusion_to_detected_object/package.xml --- autoware_universe_utils seems not to be used eigen should be rather be marked as , not --- Checking src/universe/autoware.universe/perception/autoware_detection_by_tracker/package.xml --- autoware_universe_utils seems not to be used eigen should be rather be marked as , not euclidean_cluster seems not to be used shape_estimation seems not to be used --- Checking src/universe/autoware.universe/perception/autoware_cluster_merger/package.xml --- autoware_universe_utils seems not to be used geometry_msgs seems not to be used --- Checking src/universe/autoware.universe/perception/lidar_apollo_instance_segmentation/package.xml --- autoware_universe_utils seems not to be used tier4_debug_msgs seems not to be used --- Checking src/universe/autoware.universe/perception/tensorrt_classifier/package.xml --- rclcpp seems not to be used --- Checking src/universe/autoware.universe/perception/autoware_crosswalk_traffic_light_estimator/package.xml --- autoware_universe_utils seems not to be used tier4_perception_msgs seems not to be used --- Checking src/universe/autoware.universe/perception/autoware_radar_object_tracker/package.xml --- autoware_universe_utils seems not to be used eigen should be rather be marked as , not --- Checking src/universe/autoware.universe/perception/shape_estimation/package.xml --- autoware_universe_utils seems not to be used eigen should be rather be marked as , not --- Checking src/universe/autoware.universe/perception/multi_object_tracker/package.xml --- autoware_universe_utils seems not to be used eigen should be rather be marked as , not --- Checking src/universe/autoware.universe/perception/tracking_object_merger/package.xml --- autoware_universe_utils seems not to be used eigen should be rather be marked as , not --- Checking src/universe/autoware.universe/perception/simple_object_merger/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/perception/lidar_apollo_segmentation_tvm/package.xml --- autoware_universe_utils seems not to be used rclcpp seems not to be used --- Checking src/universe/autoware.universe/perception/detected_object_validation/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/perception/autoware_raindrop_cluster_filter/package.xml --- autoware_lanelet2_extension seems not to be used autoware_universe_utils seems not to be used detected_object_validation seems not to be used message_filters seems not to be used nav_msgs seems not to be used tf2 seems not to be used tf2_eigen seems not to be used --- Checking src/universe/autoware.universe/perception/traffic_light_occlusion_predictor/package.xml --- autoware_universe_utils seems not to be used pcl_msgs seems not to be used --- Checking src/universe/autoware.universe/perception/detected_object_feature_remover/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/perception/radar_tracks_msgs_converter/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/perception/ground_segmentation/package.xml --- rclcpp seems not to be used std_msgs seems not to be used --- Checking src/universe/autoware.universe/perception/traffic_light_map_based_detector/package.xml --- autoware_universe_utils seems not to be used tf2_eigen seems not to be used --- Checking src/universe/autoware.universe/perception/bytetrack/package.xml --- cuda_utils seems not to be used eigen should be rather be marked as , not sensor_msgs seems not to be used tensorrt_common seems not to be used --- Checking src/universe/autoware.universe/perception/lidar_centerpoint/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/perception/autoware_object_velocity_splitter/package.xml --- autoware_universe_utils seems not to be used geometry_msgs seems not to be used --- Checking src/universe/autoware.universe/perception/compare_map_segmentation/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/perception/autoware_map_based_prediction/package.xml --- autoware_motion_utils seems not to be used autoware_universe_utils seems not to be used tf2_ros seems not to be used tier4_debug_msgs seems not to be used unique_identifier_msgs seems not to be used --- Checking src/universe/autoware.universe/perception/autoware_radar_object_clustering/package.xml --- autoware_universe_utils seems not to be used geometry_msgs seems not to be used --- Checking src/universe/autoware.universe/perception/lidar_transfusion/package.xml --- autoware_universe_utils seems not to be used launch_ros seems not to be used tf2_geometry_msgs seems not to be used --- Checking src/universe/autoware.universe/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml --- ament_index_cpp should be rather be marked as either or , not autoware_landmark_manager seems not to be used autoware_lanelet2_extension seems not to be used --- Checking src/universe/autoware.universe/localization/pose_initializer/package.xml --- autoware_motion_utils seems not to be used autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/localization/ekf_localizer/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/localization/pose_estimator_arbiter/package.xml --- autoware_universe_utils seems not to be used pcl_ros seems not to be used pluginlib seems not to be used ublox_msgs seems not to be used yabloc_particle_filter seems not to be used --- Checking src/universe/autoware.universe/localization/yabloc/yabloc_image_processing/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/localization/yabloc/yabloc_common/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/localization/gyro_odometer/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/localization/localization_util/package.xml --- autoware_universe_utils seems not to be used fmt seems not to be used nav_msgs seems not to be used sensor_msgs seems not to be used std_srvs seems not to be used tf2_ros seems not to be used tf2_sensor_msgs seems not to be used tier4_debug_msgs seems not to be used tier4_localization_msgs seems not to be used --- Checking src/universe/autoware.universe/localization/ndt_scan_matcher/package.xml --- autoware_universe_utils seems not to be used std_msgs seems not to be used --- Checking src/universe/autoware.universe/localization/pose_instability_detector/package.xml --- ament_index_cpp should be rather be marked as either or , not autoware_universe_utils seems not to be used tier4_debug_msgs seems not to be used --- Checking src/universe/autoware.universe/localization/localization_error_monitor/package.xml --- autoware_universe_utils seems not to be used diagnostic_updater seems not to be used --- Checking src/universe/autoware.universe/planning/autoware_scenario_selector/package.xml --- autoware_route_handler seems not to be used autoware_universe_utils seems not to be used tf2 seems not to be used --- Checking src/universe/autoware.universe/planning/autoware_path_smoother/package.xml --- autoware_motion_utils seems not to be used autoware_universe_utils seems not to be used tf2_ros seems not to be used --- Checking src/universe/autoware.universe/planning/autoware_route_handler/package.xml --- autoware_universe_utils seems not to be used rclcpp_components seems not to be used tf2_ros seems not to be used yaml-cpp seems not to be used --- Checking src/universe/autoware.universe/planning/autoware_planning_validator/package.xml --- autoware_motion_utils seems not to be used autoware_universe_utils seems not to be used geometry_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/autoware_planning_test_manager/package.xml --- autoware_lanelet2_extension seems not to be used autoware_motion_utils seems not to be used autoware_route_handler seems not to be used autoware_universe_utils seems not to be used lanelet2_io seems not to be used unique_identifier_msgs seems not to be used yaml_cpp_vendor seems not to be used --- Checking src/universe/autoware.universe/planning/autoware_remaining_distance_time_calculator/package.xml --- autoware_motion_utils seems not to be used autoware_route_handler seems not to be used autoware_test_utils seems not to be used autoware_universe_utils seems not to be used std_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/sampling_based_planner/autoware_frenet_planner/package.xml --- autoware_auto_common seems not to be used --- Checking src/universe/autoware.universe/planning/sampling_based_planner/autoware_path_sampler/package.xml --- autoware_motion_utils seems not to be used autoware_universe_utils seems not to be used tf2_ros seems not to be used tier4_planning_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/sampling_based_planner/autoware_bezier_sampler/package.xml --- eigen should be rather be marked as , not --- Checking src/universe/autoware.universe/planning/autoware_planning_topic_converter/package.xml --- autoware_motion_utils seems not to be used autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/planning/autoware_freespace_planning_algorithms/package.xml --- autoware_universe_utils seems not to be used pybind11_vendor seems not to be used --- Checking src/universe/autoware.universe/planning/autoware_freespace_planner/package.xml --- autoware_freespace_planning_algorithms seems not to be used autoware_motion_utils seems not to be used autoware_route_handler seems not to be used autoware_universe_utils seems not to be used tf2 seems not to be used visualization_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/autoware_objects_of_interest_marker_interface/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/planning/autoware_obstacle_cruise_planner/package.xml --- autoware_motion_utils seems not to be used autoware_universe_utils seems not to be used std_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/autoware_obstacle_stop_planner/package.xml --- autoware_motion_utils seems not to be used autoware_universe_utils seems not to be used signal_processing seems not to be used std_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/autoware_velocity_smoother/package.xml --- autoware_motion_utils seems not to be used autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/planning/autoware_static_centerline_generator/package.xml --- autoware_behavior_path_planner_common seems not to be used autoware_mission_planner seems not to be used autoware_motion_utils seems not to be used autoware_path_optimizer seems not to be used autoware_path_smoother seems not to be used autoware_route_handler seems not to be used autoware_universe_utils seems not to be used global_parameter_loader seems not to be used osqp_interface seems not to be used rclcpp_components seems not to be used --- Checking src/universe/autoware.universe/planning/autoware_surround_obstacle_checker/package.xml --- autoware_motion_utils seems not to be used autoware_planning_msgs seems not to be used autoware_universe_utils seems not to be used eigen should be rather be marked as , not std_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/autoware_costmap_generator/package.xml --- libpcl-all-dev seems not to be used --- Checking src/universe/autoware.universe/planning/autoware_mission_planner/package.xml --- autoware_motion_utils seems not to be used autoware_route_handler seems not to be used autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml --- autoware_behavior_path_planner seems not to be used autoware_behavior_path_planner_common seems not to be used autoware_motion_utils seems not to be used autoware_planning_msgs seems not to be used autoware_universe_utils seems not to be used geometry_msgs seems not to be used visualization_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml --- autoware_behavior_path_planner_common seems not to be used autoware_motion_utils seems not to be used autoware_path_sampler seems not to be used autoware_perception_msgs seems not to be used autoware_planning_msgs seems not to be used autoware_planning_test_manager seems not to be used autoware_route_handler seems not to be used autoware_universe_utils seems not to be used autoware_vehicle_msgs seems not to be used geometry_msgs seems not to be used interpolation seems not to be used rclcpp_components seems not to be used sensor_msgs seems not to be used signal_processing seems not to be used tf2 seems not to be used tf2_eigen seems not to be used tf2_geometry_msgs seems not to be used tf2_ros seems not to be used visualization_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml --- autoware_behavior_path_lane_change_module seems not to be used autoware_behavior_path_planner seems not to be used autoware_behavior_path_planner_common seems not to be used autoware_behavior_path_static_obstacle_avoidance_module seems not to be used autoware_motion_utils seems not to be used autoware_rtc_interface seems not to be used autoware_universe_utils seems not to be used tier4_planning_msgs seems not to be used visualization_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml --- autoware_behavior_path_planner seems not to be used autoware_behavior_path_planner_common seems not to be used autoware_motion_utils seems not to be used autoware_objects_of_interest_marker_interface seems not to be used autoware_route_handler seems not to be used autoware_rtc_interface seems not to be used autoware_universe_utils seems not to be used autoware_vehicle_info_utils seems not to be used geometry_msgs seems not to be used sensor_msgs seems not to be used signal_processing seems not to be used tf2 seems not to be used tf2_eigen seems not to be used tf2_geometry_msgs seems not to be used tf2_ros seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml --- autoware_freespace_planning_algorithms seems not to be used autoware_lane_departure_checker seems not to be used autoware_motion_utils seems not to be used autoware_objects_of_interest_marker_interface seems not to be used autoware_route_handler seems not to be used autoware_rtc_interface seems not to be used autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml --- autoware_behavior_path_planner_common seems not to be used autoware_freespace_planning_algorithms seems not to be used autoware_frenet_planner seems not to be used autoware_lane_departure_checker seems not to be used autoware_motion_utils seems not to be used autoware_path_sampler seems not to be used autoware_universe_utils seems not to be used behaviortree_cpp_v3 seems not to be used interpolation seems not to be used libopencv-dev seems not to be used object_recognition_utils seems not to be used sensor_msgs seems not to be used signal_processing seems not to be used tf2 seems not to be used tf2_eigen seems not to be used tf2_geometry_msgs seems not to be used tf2_ros seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml --- autoware_behavior_path_planner seems not to be used autoware_behavior_path_planner_common seems not to be used autoware_motion_utils seems not to be used autoware_rtc_interface seems not to be used autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml --- autoware_behavior_path_planner seems not to be used autoware_behavior_path_planner_common seems not to be used autoware_motion_utils seems not to be used autoware_rtc_interface seems not to be used autoware_universe_utils seems not to be used visualization_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml --- autoware_behavior_path_planner seems not to be used autoware_behavior_path_planner_common seems not to be used autoware_motion_utils seems not to be used autoware_planning_msgs seems not to be used autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml --- autoware_behavior_path_lane_change_module seems not to be used autoware_behavior_path_planner seems not to be used autoware_behavior_path_planner_common seems not to be used autoware_motion_utils seems not to be used autoware_rtc_interface seems not to be used autoware_universe_utils seems not to be used tier4_planning_msgs seems not to be used visualization_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml --- autoware_behavior_path_planner seems not to be used autoware_behavior_path_planner_common seems not to be used autoware_motion_utils seems not to be used autoware_rtc_interface seems not to be used autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/planning/autoware_path_optimizer/package.xml --- autoware_motion_utils seems not to be used autoware_universe_utils seems not to be used tf2_ros seems not to be used tier4_planning_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml --- autoware_behavior_velocity_planner_common seems not to be used autoware_motion_utils seems not to be used autoware_planning_msgs seems not to be used autoware_route_handler seems not to be used eigen should be rather be marked as , not geometry_msgs seems not to be used visualization_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml --- autoware_adapi_v1_msgs seems not to be used autoware_behavior_velocity_planner_common seems not to be used autoware_motion_utils seems not to be used autoware_planning_msgs seems not to be used autoware_route_handler seems not to be used autoware_universe_utils seems not to be used geometry_msgs seems not to be used visualization_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml --- autoware_behavior_velocity_planner_common seems not to be used autoware_motion_utils seems not to be used autoware_planning_msgs seems not to be used autoware_route_handler seems not to be used autoware_universe_utils seems not to be used autoware_vehicle_info_utils seems not to be used eigen should be rather be marked as , not geometry_msgs seems not to be used visualization_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml --- autoware_behavior_velocity_planner_common seems not to be used autoware_motion_utils seems not to be used autoware_planning_msgs seems not to be used autoware_route_handler seems not to be used autoware_universe_utils seems not to be used eigen should be rather be marked as , not geometry_msgs seems not to be used visualization_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml --- autoware_motion_utils seems not to be used autoware_objects_of_interest_marker_interface seems not to be used autoware_route_handler seems not to be used autoware_rtc_interface seems not to be used autoware_universe_utils seems not to be used autoware_velocity_smoother seems not to be used diagnostic_msgs seems not to be used eigen should be rather be marked as , not interpolation seems not to be used pcl_conversions seems not to be used rclcpp_components seems not to be used tf2_ros seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml --- autoware_behavior_velocity_planner_common seems not to be used autoware_motion_utils seems not to be used autoware_route_handler seems not to be used autoware_universe_utils seems not to be used autoware_velocity_smoother seems not to be used eigen should be rather be marked as , not geometry_msgs seems not to be used tf2 seems not to be used tf2_geometry_msgs seems not to be used tier4_v2x_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml --- autoware_behavior_velocity_crosswalk_module seems not to be used autoware_behavior_velocity_planner_common seems not to be used autoware_motion_utils seems not to be used autoware_planning_msgs seems not to be used autoware_route_handler seems not to be used autoware_universe_utils seems not to be used autoware_vehicle_info_utils seems not to be used geometry_msgs seems not to be used libboost-dev seems not to be used visualization_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml --- autoware_adapi_v1_msgs seems not to be used autoware_behavior_velocity_planner_common seems not to be used autoware_motion_utils seems not to be used autoware_perception_msgs seems not to be used autoware_planning_msgs seems not to be used autoware_route_handler seems not to be used autoware_universe_utils seems not to be used eigen should be rather be marked as , not geometry_msgs seems not to be used visualization_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml --- autoware_behavior_velocity_crosswalk_module seems not to be used autoware_behavior_velocity_planner_common seems not to be used autoware_motion_utils seems not to be used autoware_route_handler seems not to be used autoware_universe_utils seems not to be used eigen should be rather be marked as , not rclcpp seems not to be used visualization_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml --- autoware_behavior_velocity_planner_common seems not to be used autoware_motion_utils seems not to be used autoware_planning_msgs seems not to be used autoware_route_handler seems not to be used autoware_universe_utils seems not to be used visualization_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml --- autoware_behavior_velocity_planner_common seems not to be used autoware_motion_utils seems not to be used autoware_planning_msgs seems not to be used autoware_route_handler seems not to be used autoware_rtc_interface seems not to be used autoware_universe_utils seems not to be used autoware_vehicle_info_utils seems not to be used nav_msgs seems not to be used visualization_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml --- autoware_behavior_velocity_planner_common seems not to be used autoware_motion_utils seems not to be used autoware_planning_msgs seems not to be used autoware_route_handler seems not to be used autoware_universe_utils seems not to be used eigen should be rather be marked as , not sensor_msgs seems not to be used visualization_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml --- autoware_behavior_velocity_planner_common seems not to be used autoware_motion_utils seems not to be used autoware_planning_msgs seems not to be used autoware_route_handler seems not to be used autoware_universe_utils seems not to be used eigen should be rather be marked as , not geometry_msgs seems not to be used libboost-dev seems not to be used sensor_msgs seems not to be used visualization_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml --- autoware_behavior_velocity_planner_common seems not to be used autoware_motion_utils seems not to be used autoware_planning_msgs seems not to be used autoware_route_handler seems not to be used autoware_universe_utils seems not to be used autoware_vehicle_info_utils seems not to be used eigen should be rather be marked as , not interpolation seems not to be used visualization_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml --- autoware_behavior_velocity_planner_common seems not to be used autoware_lanelet2_extension seems not to be used autoware_motion_utils seems not to be used autoware_planning_msgs seems not to be used autoware_route_handler seems not to be used autoware_universe_utils seems not to be used eigen should be rather be marked as , not geometry_msgs seems not to be used sensor_msgs seems not to be used tf2 seems not to be used visualization_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml --- autoware_behavior_velocity_planner_common seems not to be used autoware_motion_utils seems not to be used autoware_route_handler seems not to be used autoware_universe_utils seems not to be used autoware_vehicle_info_utils seems not to be used --- Checking src/universe/autoware.universe/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml --- autoware_motion_utils seems not to be used autoware_motion_velocity_planner_common seems not to be used autoware_route_handler seems not to be used autoware_universe_utils seems not to be used autoware_vehicle_info_utils seems not to be used tier4_planning_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml --- autoware_motion_utils seems not to be used autoware_motion_velocity_planner_common seems not to be used autoware_planning_test_manager seems not to be used autoware_universe_utils seems not to be used eigen should be rather be marked as , not grid_map_msgs seems not to be used sensor_msgs seems not to be used tier4_planning_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml --- autoware_behavior_velocity_planner_common seems not to be used autoware_lanelet2_extension seems not to be used autoware_motion_utils seems not to be used autoware_route_handler seems not to be used autoware_universe_utils seems not to be used autoware_velocity_smoother seems not to be used eigen should be rather be marked as , not libboost-dev seems not to be used --- Checking src/universe/autoware.universe/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml --- autoware_motion_utils seems not to be used autoware_motion_velocity_planner_common seems not to be used autoware_universe_utils seems not to be used autoware_velocity_smoother seems not to be used eigen should be rather be marked as , not geometry_msgs seems not to be used tf2 seems not to be used tf2_geometry_msgs seems not to be used tier4_planning_msgs seems not to be used --- Checking src/universe/autoware.universe/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml --- autoware_motion_utils seems not to be used autoware_motion_velocity_planner_common seems not to be used autoware_route_handler seems not to be used autoware_universe_utils seems not to be used autoware_vehicle_info_utils seems not to be used --- Checking src/universe/autoware.universe/tools/reaction_analyzer/package.xml --- autoware_motion_utils seems not to be used autoware_system_msgs seems not to be used autoware_universe_utils seems not to be used eigen should be rather be marked as , not tf2 seems not to be used tf2_geometry_msgs seems not to be used --- Checking src/universe/autoware.universe/system/mrm_handler/package.xml --- autoware_control_msgs seems not to be used autoware_system_msgs seems not to be used autoware_universe_utils seems not to be used std_msgs seems not to be used std_srvs seems not to be used --- Checking src/universe/autoware.universe/system/emergency_handler/package.xml --- autoware_universe_utils seems not to be used std_msgs seems not to be used std_srvs seems not to be used --- Checking src/universe/autoware.universe/system/topic_state_monitor/package.xml --- ament_index_cpp should be rather be marked as either or , not --- Checking src/universe/autoware.universe/system/default_ad_api_helpers/ad_api_visualizers/package.xml --- Skipping package with no CMakeLists.txt (is python package?) --- Checking src/universe/autoware.universe/system/default_ad_api_helpers/automatic_pose_initializer/package.xml --- autoware_adapi_v1_msgs seems not to be used --- Checking src/universe/autoware.universe/system/default_ad_api_helpers/ad_api_adaptors/package.xml --- autoware_adapi_v1_msgs seems not to be used --- Checking src/universe/autoware.universe/system/bluetooth_monitor/package.xml --- diagnostic_msgs seems not to be used --- Checking src/universe/autoware.universe/system/autoware_processing_time_checker/package.xml --- diagnostic_updater seems not to be used --- Checking src/universe/autoware.universe/system/mrm_comfortable_stop_operator/package.xml --- autoware_adapi_v1_msgs seems not to be used std_msgs seems not to be used std_srvs seems not to be used --- Checking src/universe/autoware.universe/system/hazard_status_converter/package.xml --- autoware_adapi_v1_msgs seems not to be used diagnostic_msgs seems not to be used tier4_system_msgs seems not to be used --- Checking src/universe/autoware.universe/system/default_ad_api/package.xml --- autoware_adapi_version_msgs seems not to be used autoware_motion_utils seems not to be used autoware_vehicle_msgs seems not to be used nav_msgs seems not to be used tier4_api_msgs seems not to be used tier4_control_msgs seems not to be used --- Checking src/universe/autoware.universe/system/mrm_emergency_stop_operator/package.xml --- autoware_adapi_v1_msgs seems not to be used autoware_universe_utils seems not to be used std_msgs seems not to be used std_srvs seems not to be used --- Checking src/universe/autoware.universe/system/system_error_monitor/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/system/system_monitor/package.xml --- autoware_universe_utils seems not to be used diagnostic_msgs seems not to be used std_msgs seems not to be used --- Checking src/universe/autoware.universe/system/dummy_diag_publisher/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/system/velodyne_monitor/package.xml --- crypto++ seems not to be used diagnostic_msgs seems not to be used std_msgs seems not to be used --- Checking src/universe/autoware.universe/simulator/fault_injection/package.xml --- autoware_universe_utils seems not to be used pluginlib seems not to be used --- Checking src/universe/autoware.universe/simulator/dummy_perception_publisher/package.xml --- autoware_universe_utils seems not to be used --- Checking src/universe/autoware.universe/simulator/simple_planning_simulator/package.xml --- autoware_motion_utils seems not to be used autoware_universe_utils seems not to be used tier4_vehicle_msgs seems not to be used --- Checking src/universe/autoware.universe/simulator/learning_based_vehicle_model/package.xml --- pybind11_vendor seems not to be used python3-dev seems not to be used --- Checking src/universe/external/rtklib_ros_bridge/rtklib_msgs/package.xml --- builtin_interfaces seems not to be used --- Checking src/universe/external/tier4_autoware_msgs/tier4_v2x_msgs/package.xml --- std_msgs seems not to be used --- Checking src/universe/external/tier4_autoware_msgs/tier4_vehicle_msgs/package.xml --- geometry_msgs seems not to be used tier4_control_msgs seems not to be used --- Checking src/universe/external/tier4_autoware_msgs/tier4_simulation_msgs/package.xml --- std_msgs seems not to be used --- Checking src/universe/external/tier4_autoware_msgs/tier4_perception_msgs/package.xml --- builtin_interfaces seems not to be used --- Checking src/universe/external/tier4_autoware_msgs/tier4_control_msgs/package.xml --- std_msgs seems not to be used --- Checking src/universe/external/eagleye/eagleye_rt/package.xml --- std_msgs seems not to be used geometry_msgs seems not to be used geographic_msgs seems not to be used geodesy seems not to be used sensor_msgs seems not to be used nmea_msgs seems not to be used rtklib_msgs seems not to be used eagleye_msgs seems not to be used ublox_msgs seems not to be used --- Checking src/universe/external/eagleye/eagleye_core/coordinate/package.xml --- eigen should be rather be marked as , not geographic_info seems not to be used --- Checking src/universe/external/eagleye/eagleye_util/geo_pose_converter/package.xml --- std_srvs seems not to be used --- Checking src/universe/external/pointcloud_to_laserscan/package.xml --- libpcl-all-dev seems not to be used tf2 seems not to be used --- Checking src/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/package.xml --- geometry_msgs seems not to be used std_srvs seems not to be used tier4_localization_msgs seems not to be used --- Checking src/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/package.xml --- std_msgs seems not to be used tier4_external_api_msgs seems not to be used --- Checking src/rclcpp/rclcpp_lifecycle/package.xml --- rmw seems not to be used --- Checking src/rclcpp/rclcpp_action/package.xml --- ament_cmake should be rather be marked as either or , not --- Checking src/sensor_component/external/nebula/nebula_tests/package.xml --- diagnostic_msgs seems not to be used libpcl-all-dev seems not to be used nebula_hw_interfaces seems not to be used pcl_conversions seems not to be used --- Checking src/sensor_component/external/nebula/nebula_decoders/package.xml --- radar_msgs seems not to be used yaml-cpp seems not to be used --- Checking src/sensor_component/external/nebula/nebula_messages/continental_msgs/package.xml --- builtin_interfaces seems not to be used --- Checking src/sensor_component/external/nebula/nebula_messages/continental_srvs/package.xml --- builtin_interfaces seems not to be used geometry_msgs seems not to be used --- Checking src/sensor_component/external/nebula/nebula_ros/package.xml --- libpcl-all-dev seems not to be used tf2_eigen seems not to be used tf2_geometry_msgs seems not to be used yaml-cpp seems not to be used --- Checking src/sensor_component/external/nebula/nebula_hw_interfaces/package.xml --- libpcl-all-dev seems not to be used sensor_msgs seems not to be used --- Checking src/sensor_component/external/nebula/nebula_examples/package.xml --- diagnostic_msgs seems not to be used libpcl-all-dev seems not to be used pcl_conversions seems not to be used pcl_msgs seems not to be used sensor_msgs seems not to be used yaml-cpp seems not to be used --- Checking src/sensor_component/external/nebula/nebula_common/package.xml --- pcl_conversions seems not to be used --- Checking src/sensor_component/external/transport_drivers/udp_driver/package.xml --- std_msgs seems not to be used udp_msgs seems not to be used --- Checking src/sensor_component/external/transport_drivers/serial_driver/package.xml --- std_msgs seems not to be used --- Checking src/sensor_component/external/transport_drivers/tcp_driver/package.xml --- lifecycle_msgs seems not to be used rclcpp_components seems not to be used rclcpp_lifecycle seems not to be used --- Checking src/sensor_kit/awsim_labs_sensor_kit_launch/awsim_labs_sensor_kit_description/package.xml --- velodyne_description seems not to be used --- Checking src/sensor_kit/sample_sensor_kit_launch/sample_sensor_kit_description/package.xml --- velodyne_description seems not to be used --- Checking src/sensor_kit/external/awsim_sensor_kit_launch/awsim_sensor_kit_description/package.xml --- velodyne_description seems not to be used --- Checking src/core/autoware_msgs/autoware_planning_msgs/package.xml --- nav_msgs seems not to be used --- Checking src/core/autoware_msgs/autoware_system_msgs/package.xml --- geometry_msgs seems not to be used nav_msgs seems not to be used std_msgs seems not to be used unique_identifier_msgs seems not to be used --- Checking src/core/autoware_msgs/autoware_map_msgs/package.xml --- geometry_msgs seems not to be used --- Checking src/core/autoware_msgs/autoware_vehicle_msgs/package.xml --- autoware_planning_msgs seems not to be used --- Checking src/core/autoware_lanelet2_extension/autoware_lanelet2_extension_python/package.xml --- geometry_msgs seems not to be used lanelet2_projection seems not to be used lanelet2_routing seems not to be used lanelet2_traffic_rules seems not to be used lanelet2_validation seems not to be used libboost-python-dev should be rather be marked as either or , not --- Checking src/core/autoware_lanelet2_extension/autoware_lanelet2_extension/package.xml --- lanelet2_maps seems not to be used lanelet2_validation seems not to be used --- Checking src/core/external/autoware_auto_msgs/autoware_auto_system_msgs/package.xml --- std_msgs seems not to be used --- Checking src/core/external/autoware_auto_msgs/autoware_auto_planning_msgs/package.xml --- autoware_auto_geometry_msgs seems not to be used action_msgs seems not to be used --- Checking src/core/external/autoware_auto_msgs/autoware_auto_control_msgs/package.xml --- std_msgs seems not to be used --- Checking src/core/autoware_utils/autoware_utils/package.xml --- builtin_interfaces seems not to be used --- Checking src/core/autoware_common/tmp/lanelet2_extension_python/package.xml --- geometry_msgs seems not to be used lanelet2_projection seems not to be used lanelet2_routing seems not to be used lanelet2_traffic_rules seems not to be used lanelet2_validation seems not to be used libboost-python-dev should be rather be marked as either or , not --- Checking src/core/autoware_common/tmp/lanelet2_extension/package.xml --- lanelet2_maps seems not to be used lanelet2_validation seems not to be used ```
a-maumau commented 1 month ago

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_*.

unused_deps.sh ``` #!/bin/bash # This script find recursively all package.xml in the src/ subdirectory # Then check if all package marked are effectly used somewhere in the package. # Packages marked normally either provide shared libraries or custom messages # Packages that should always be , not KNOWN_BUILDTOOLS="rosidl_default_generators;autoware_cmake;eigen3_cmake_module" pkgs=$(find src -name "package.xml") for pkg in $pkgs; do echo "--- Checking $pkg ---" # Get all packages marked . For example: # dep_name deps=$(grep -oP '^\s*\K[^<]+' $pkg) dir=$(dirname $pkg) if [[ ! -f "$dir/CMakeLists.txt" ]]; then echo "Skipping package with no CMakeLists.txt (is python package?)" echo "" continue fi for dep in $deps; do # filter out buildtools (should not use ) if [[ $(echo "$KNOWN_BUILDTOOLS" | grep "$dep" | wc -l) -ne 0 ]]; then echo "$dep should be rather be marked as , not " continue fi # filter out ament stuff (should not use ) if [[ "$dep" =~ ament_.*$ ]]; then echo "$dep should be rather be marked as either or , not " continue fi # filter out python stuff (should not use ) if [[ "$dep" =~ python-.*$ ]]; then echo "$dep should be rather be marked as either or , not " continue fi # By convention, dependency headers must be prefixed with the package name. For Example: # tier4_autoware_utils/geometry/geometry.hpp header_regex="$dep/.*" # System dependencies don't follow this rule. They all have custom names. [[ "$dep" =~ libpcl-.*$ ]] && header_regex="pcl/.*" [[ "$dep" =~ libboost-.*$ ]] && header_regex="boost/.*" [[ "$dep" =~ libqt5-.*$ ]] && header_regex="Q.*" [[ "$dep" == "qtbase5-dev" ]] && header_regex="Q.*" [[ "$dep" == "libopencv-dev" ]] && header_regex="opencv2/.*" [[ "$dep" == "pugixml-dev" ]] && header_regex="pugixml.hpp" [[ "$dep" == "yaml_cpp_vendor" ]] && header_regex="yaml-cpp/yaml.h" [[ "$dep" == "nlohmann-json-dev" ]] && header_regex="nlohmann/json.hpp" [[ "$dep" == "range-v3" ]] && header_regex="range/v3/.*" [[ "$dep" == "libcpprest-dev" ]] && header_regex="cpprest/.*" [[ "$dep" == "eigen" ]] && header_regex="Eigen/.*" [[ "$dep" == "libnl-3-dev" ]] && header_regex="netlink/.*" [[ "$dep" == "libpcap" ]] && header_regex="pcap.h" [[ "$dep" == "cgal" ]] && header_regex="CGAL/.*" [[ "$dep" == "osqp_vendor" ]] && header_regex="osqp/.*" [[ "$dep" == "magic_enum" ]] && header_regex="magic_enum.hpp" [[ "$dep" == "geographiclib" ]] && header_regex="GeographicLib/.*" # Some autoware packages don't follow the convention either... [[ "$dep" == "autoware_auto_common" ]] && header_regex="(common|helper_functions)/.*" [[ "$dep" == "ndt_omp" ]] && header_regex="(pclomp|multigrid_pclomp)/.*" [[ "$dep" == "planning_test_utils" ]] && header_regex="planning_interface_test_manager/.*" [[ "$dep" == "shape_estimation" ]] && header_regex="autoware/shape_estimation/.*" [[ "$dep" == "autoware_behavior_path_planner_common" ]] && header_regex="autoware/behavior_path_planner_common/.*" [[ "$dep" == "autoware_behavior_path_lane_change_module" ]] && header_regex="autoware/behavior_path_lane_change_module/.*" [[ "$dep" == "autoware_behavior_velocity_planner_common" ]] && header_regex="autoware/behavior_velocity_planner_common/.*" [[ "$dep" == "autoware_euclidean_cluster" ]] && header_regex="autoware/euclidean_cluster/.*" [[ "$dep" == "autoware_landmark_manager" ]] && header_regex="autoware/landmark_manager/.*" [[ "$dep" == "autoware_mission_planner" ]] && header_regex="autoware/mission_planner/.*" [[ "$dep" == "autoware_motion_utils" ]] && header_regex="autoware/motion_utils/.*" [[ "$dep" == "autoware_motion_velocity_planner_common" ]] && header_regex="autoware/motion_velocity_planner_common/.*" [[ "$dep" == "autoware_objects_of_interest_marker_interface" ]] && header_regex="objects_of_interest_marker_interface/.*" [[ "$dep" == "autoware_path_optimizer" ]] && header_regex=autoware/path_optimizer/.* [[ "$dep" == "autoware_path_smoother" ]] && header_regex="autoware/path_smoother/.*" [[ "$dep" == "autoware_route_handler" ]] && header_regex="autoware/route_handler/.*" [[ "$dep" == "autoware_rtc_interface" ]] && header_regex="autoware/rtc_interface/.*" [[ "$dep" == "autoware_tensorrt_classifier" ]] && header_regex="autoware/tensorrt_classifier/.*" [[ "$dep" == "autoware_trajectory_follower_base" ]] && header_regex="autoware_trajectory_follower_base/.*" [[ "$dep" == "autoware_universe_utils" ]] && header_regex="autoware/universe_utils/.*" [[ "$dep" == "autoware_velocity_smoother" ]] && header_regex="autoware/velocity_smoother/smoother/.*" # Add more as needed... # Look for C/C++ includes. For example: # #include "tier4_autoware_utils/geometry/geometry.hpp" # Note: whether these includes are actually useful is out-of-scope of this script # There are many great tools for that. include_regex="^#include [<\"]$header_regex[>\"]" # Dependencies defining custom messages may also be re-used in other messages or services # By convention, these packages must be named "*_msgs", excepted for "builtin_interfaces" if [[ "$dep" =~ .*_msgs$ ]] || [[ "$dep" == "builtin_interfaces" ]]; then grep -wIPrq "$dep" "$dir" --include \*.msg --include \*.srv --include \*.idl [[ $? -eq 0 ]] && continue # found! fi # Check if the dependency is included anywhere in the source files grep -wIPrq "$include_regex" "$dir" \ --include \*.c --include \*.cc --include \*.cpp --include \*.h --include \*.hpp [[ $? -eq 0 ]] && continue # found! echo "$dep seems not to be used" # /!\ WARNING - DANGEROUS /!\ # Uncomment to delete unused dependency! # sed -i "/$dep<\/depend>/d" $pkg done echo "" done ```
VRichardJP commented 1 month ago

Would it make sense to have this script somewhere like https://github.com/autowarefoundation/autoware_tools?

YamatoAndo commented 1 month ago

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?

youtalk commented 1 month ago

@YamatoAndo Please make the PR. I would like to review it.

YamatoAndo commented 1 month ago

@youtalk Sure! I will collaborate with @a-maumau to make the PR.

a-maumau commented 1 month ago

@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.