{
'awapi': [
'/awapi/vehicle/get/status', '/awapi/autoware/get/route',
'/awapi/autoware/get/stop_speed_exceeded',
'/awapi/tmp/infrastructure_commands',
'/awapi/tmp/virtual_traffic_light_states',
'/awapi/lane_change/get/status',
'/awapi/traffic_light/get/nearest_traffic_signal',
'/awapi/object_avoidance/get/status', '/awapi/autoware/get/status',
'/awapi/prediction/get/objects',
'/awapi/traffic_light/get/traffic_signals'
],
'planning': [
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/turn_signal_info',
'/planning/path_candidate/lane_change_right',
'/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control/debug_values',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/walkway',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/goal_planner',
'/planning/scenario_planning/trajectory',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance_debug_message_array',
'/planning/scenario_planning/motion_velocity_smoother/debug/trajectory_time_resampled',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/intersection',
'/planning/steering_factor/start_planner',
'/planning/path_candidate/side_shift',
'/planning/cooperate_status/avoidance_right',
'/planning/cooperate_status/intersection',
'/planning/velocity_factors/stop_line',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_stopping_area',
'/planning/scenario_planning/clear_velocity_limit',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_lanes/side_shift',
'/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/virtual_wall',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/blind_spot/processing_time_ms',
'/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/calculation_time',
'/planning/cooperate_status/lane_change_right',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/lane_change_right',
'/planning/path_reference/avoidance',
'/planning/cooperate_status/avoidance_by_lane_change_right',
'/planning/scenario_planning/motion_velocity_smoother/debug/merged_filtered_trajectory',
'/planning/velocity_factors/obstacle_stop',
'/planning/planning_validator/validation_status',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/avoidance',
'/planning/scenario_planning/lane_driving/motion_planning/elastic_band_smoother/debug/eb_fixed_traj',
'/planning/scenario_planning/parking/is_completed',
'/planning/auto_mode_status/goal_planner',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/side_shift',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/out_of_lane',
'/planning/path_reference/start_planner',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/internal_state',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/start_planner',
'/planning/velocity_factors/crosswalk',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/total_time/processing_time_ms',
'/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/start_planner',
'/planning/planning_validator/debug/marker',
'/planning/scenario_planning/parking/costmap_generator/grid_map',
'/planning/auto_mode_status/intersection',
'/planning/scenario_planning/lane_driving/motion_planning/elastic_band_smoother/output/traj',
'/planning/steering_factor/lane_change_left',
'/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/output/stop_reason',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/goal_planner',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_left',
'/planning/path_reference/side_shift',
'/planning/velocity_factors/walkway',
'/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/extended_traj',
'/planning/scenario_planning/parking/freespace_planner/debug/pose_array',
'/planning/planning_validator/debug/processing_time_ms',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/run_out',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/detection_area/processing_time_ms',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_lanes/avoidance',
'/planning/auto_mode_status/avoidance_left',
'/planning/debug/objects_of_interest/avoidance_left',
'/planning/auto_mode_status/detection_area',
'/planning/cooperate_status/lane_change_left',
'/planning/scenario_planning/parking/trajectory',
'/planning/velocity_factors/intersection',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/blind_spot',
'/planning/velocity_factors/run_out',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/merge_from_private',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance_by_lane_change',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk/processing_time_ms',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/merge_from_private',
'/planning/path_reference/lane_change_right',
'/planning/cooperate_status/avoidance_by_lane_change_left',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/out_of_lane/processing_time_ms',
'/planning/debug/objects_of_interest/avoidance_by_lane_change_right',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/run_out/debug_values',
'/planning/auto_mode_status/traffic_light',
'/planning/scenario_planning/lane_driving/motion_planning/elastic_band_smoother/debug/processing_time_ms',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/side_shift',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/walkway/processing_time_ms',
'/planning/scenario_planning/current_max_velocity',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/merge_from_private/processing_time_ms',
'/planning/scenario_planning/motion_velocity_smoother/debug/processing_time_ms',
'/planning/steering_factor/lane_change_right',
'/planning/debug/objects_of_interest/lane_change_right',
'/planning/velocity_factors/traffic_light',
'/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/output/runtime_microseconds',
'/planning/mission_planning/echo_back_goal_pose',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/dynamic_obstacle_stop/processing_time_ms',
'/planning/auto_mode_status/avoidance_by_lane_change_right',
'/planning/scenario_planning/motion_velocity_smoother/debug/trajectory_raw',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/stop_line',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/detection_area',
'/planning/scenario_planning/motion_velocity_smoother/closest_jerk',
'/planning/mission_planning/route_state',
'/planning/scenario_planning/motion_velocity_smoother/closest_acceleration',
'/planning/velocity_factors/merge_from_private',
'/planning/cooperate_status/blind_spot',
'/planning/cooperate_status/no_stopping_area',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance/processing_time_ms',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/goal_planner/processing_time_ms',
'/planning/mission_planning/normal_route',
'/planning/scenario_planning/motion_velocity_smoother/stop_speed_exceeded',
'/planning/steering_factor/goal_planner',
'/planning/scenario_planning/motion_velocity_smoother/debug/forward_filtered_trajectory',
'/planning/auto_mode_status/start_planner',
'/planning/cooperate_status/goal_planner',
'/planning/mission_planning/debug/goal_footprint',
'/planning/scenario_planning/lane_driving/motion_planning/path_smoother/path',
'/planning/debug/objects_of_interest/lane_change_left',
'/planning/path_reference/lane_change_left',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_left/processing_time_ms',
'/planning/scenario_planning/external_velocity_limit_selector/debug',
'/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/mpt_ref_traj',
'/planning/hazard_lights_cmd', '/planning/velocity_factors/blind_spot',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_lanes/avoidance_by_lane_change',
'/planning/velocity_factors/no_stopping_area',
'/planning/debug/objects_of_interest/crosswalk',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/blind_spot',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/path',
'/planning/scenario_planning/parking/freespace_planner/debug/partial_pose_array',
'/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_right',
'/planning/debug/objects_of_interest/no_stopping_area',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_stopping_area/processing_time_ms',
'/planning/debug/objects_of_interest/detection_area',
'/planning/cooperate_status/start_planner',
'/planning/scenario_planning/parking/costmap_generator/occupancy_grid',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/run_out/filtered_pointcloud',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/start_planner',
'/planning/velocity_factors/detection_area',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_lanes/lane_change_right',
'/planning/debug/objects_of_interest/goal_planner',
'/planning/auto_mode_status/lane_change_right',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance',
'/planning/scenario_planning/motion_velocity_smoother/closest_max_velocity',
'/planning/scenario_planning/lane_driving/motion_planning/debug_markers',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/dynamic_obstacle_stop',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/traffic_light',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/output/is_reroute_available',
'/planning/scenario_planning/motion_velocity_smoother/debug/trajectory_lateral_acc_filtered',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/side_shift/processing_time_ms',
'/planning/scenario_planning/max_velocity_candidates',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/bound',
'/planning/auto_mode_status/blind_spot',
'/planning/cooperate_status/traffic_light',
'/planning/auto_mode_status/no_stopping_area',
'/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/virtual_wall',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/lane_change_left',
'/planning/planning_validator/virtual_wall',
'/planning/scenario_planning/max_velocity',
'/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/obstacle_pointcloud',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/avoidance',
'/planning/auto_mode_status/crosswalk',
'/planning/turn_indicators_cmd', '/planning/mission_planning/route',
'/planning/scenario_planning/status/infrastructure_commands',
'/planning/scenario_planning/lane_driving/motion_planning/elastic_band_smoother/debug/extended_traj',
'/planning/scenario_planning/status/stop_reasons',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/goal_planner',
'/planning/auto_mode_status/intersection_occlusion',
'/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/traffic_light',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk',
'/planning/cooperate_status/crosswalk',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/run_out',
'/planning/scenario_planning/motion_velocity_smoother/virtual_wall',
'/planning/planning_validator/output/markers',
'/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/mpt_traj',
'/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/processing_time_ms',
'/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/trajectory',
'/planning/path_candidate/goal_planner',
'/planning/scenario_planning/lane_driving/motion_planning/elastic_band_smoother/debug/eb_traj',
'/planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal',
'/planning/auto_mode_status/lane_change_left',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/detection_area',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/avoidance_by_lane_change',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/out_of_lane',
'/planning/path_reference/goal_planner',
'/planning/steering_factor/side_shift',
'/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/collision_pointcloud',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/dynamic_obstacle_stop',
'/planning/debug/objects_of_interest/avoidance_by_lane_change_left',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_lanes/start_planner',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/stop_line/processing_time_ms',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance_by_lane_change/processing_time_ms',
'/planning/scenario_planning/motion_velocity_smoother/debug/backward_filtered_trajectory',
'/planning/auto_mode_status/avoidance_by_lane_change_left',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/side_shift',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/walkway',
'/planning/path_candidate/avoidance',
'/planning/velocity_factors/dynamic_obstacle_stop',
'/planning/mission_planning/mrm_route',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/start_planner/processing_time_ms',
'/planning/scenario_planning/scenario_selector/trajectory',
'/planning/cooperate_status/detection_area',
'/planning/scenario_planning/scenario',
'/planning/scenario_planning/max_velocity_default',
'/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/trajectory',
'/planning/scenario_planning/lane_driving/behavior_planning/path',
'/planning/cooperate_status/avoidance_left',
'/planning/auto_mode_status/avoidance_right',
'/planning/scenario_planning/motion_velocity_smoother/distance_to_stopline',
'/planning/scenario_planning/lane_driving/trajectory',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/lane_change_right',
'/planning/scenario_planning/lane_driving/motion_planning/elastic_band_smoother/debug/calculation_time',
'/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop/debug_values',
'/planning/velocity_factors/out_of_lane',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/run_out/processing_time_ms',
'/planning/scenario_planning/motion_velocity_smoother/debug/trajectory_steering_rate_limited',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_right/processing_time_ms',
'/planning/scenario_planning/motion_velocity_smoother/debug/trajectory_external_velocity_limited',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/crosswalk',
'/planning/debug/objects_of_interest/intersection',
'/planning/debug/objects_of_interest/traffic_light',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_lanes/goal_planner',
'/planning/scenario_planning/motion_velocity_smoother/closest_merged_velocity',
'/planning/scenario_planning/modified_goal',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/avoidance_by_lane_change',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/stop_line',
'/planning/debug/objects_of_interest/blind_spot',
'/planning/path_reference/avoidance_by_lane_change',
'/planning/debug/objects_of_interest/avoidance_right',
'/planning/debug/objects_of_interest/start_planner',
'/planning/steering_factor/avoidance',
'/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/processing_time_ms',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_stopping_area',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/lane_change_left',
'/planning/scenario_planning/motion_velocity_smoother/closest_velocity',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/output/stop_reason',
'/planning/steering_factor/avoidance_by_lane_change',
'/planning/cooperate_status/intersection_occlusion',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/run_out/accel_reason',
'/planning/path_candidate/start_planner',
'/planning/mission_planning/route_marker',
'/planning/scenario_planning/motion_velocity_smoother/trajectory',
'/planning/steering_factor/intersection',
'/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/mpt_fixed_traj',
'/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_lanes/lane_change_left',
'/planning/path_candidate/lane_change_left',
'/planning/path_candidate/avoidance_by_lane_change'
],
'diagnostics_err_': [
'/diagnostics_err_/autoware/system/node_alive_monitoring/topic_status/topic_state_monitor_system_emergency_control_cmdsystem_topic_status_warn_rate',
'/diagnostics_err_/autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_trajectory_follower_control_cmdcontrol_topic_status_timeout',
'/diagnostics_err_/autoware/system/node_alive_monitoring/topic_status/topic_state_monitor_system_emergency_control_cmdsystem_topic_status_last_message_time',
'/diagnostics_err_/autoware/control/control_command_gate/node_alive_monitoring_heartbeat',
'/diagnostics_err_/autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation/lane_departure_checker_nodetrajectory_deviation_lateraldeviation',
'/diagnostics_err_/autoware/map/node_alive_monitoring/topic_status/topic_state_monitor_vector_mapmap_topic_status_status',
'/diagnostics_err_/autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation_fault_injectiontrajectory_deviation',
'/diagnostics_err_/autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_scenario_planning_trajectoryplanning_topic_status_topic',
'/diagnostics_err_/autoware/map/node_alive_monitoring/topic_status/topic_state_monitor_vector_mapmap_topic_status_now',
'/diagnostics_err_/autoware/perception/node_alive_monitoring/topic_status/topic_state_monitor_object_recognition_objectsperception_topic_status_measured_rate',
'/diagnostics_err_/autoware/system/node_alive_monitoring/topic_status/topic_state_monitor_system_emergency_control_cmdsystem_topic_status_measured_rate',
'/diagnostics_err_/autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_trajectory_follower_control_cmdcontrol_topic_status_measured_rate',
'/diagnostics_err_/autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation/lane_departure_checker_nodetrajectory_deviation_longitudinaldeviation',
'/diagnostics_err_/autoware/localization/node_alive_monitoring/topic_status/topic_state_monitor_transform_map_to_base_linklocalization_topic_status_now',
'/diagnostics_err_/autoware/vehicle/node_alive_monitoring/topic_status/topic_state_monitor_vehicle_status_steering_statusvehicle_topic_status_last_message_time',
'/diagnostics_err_/autoware/planning/node_alive_monitoring_topic_status',
'/diagnostics_err_/autoware/vehicle/node_alive_monitoring/topic_status/topic_state_monitor_vehicle_status_velocity_statusvehicle_topic_status_timeout',
'/diagnostics_err_/autoware/system/duplicated_node_checker_duplicated_node_checkerduplicated_node_checker',
'/diagnostics_err_/autoware/perception/node_alive_monitoring/topic_status/topic_state_monitor_object_recognition_objectsperception_topic_status_timeout',
'/diagnostics_err_/autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_scenario_planning_trajectoryplanning_topic_status_timeout',
'/diagnostics_err_/autoware/system/emergency_stop_operation_vehicle_cmd_gateemergency_stop_operation',
'/diagnostics_err_/autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_trajectory_follower_control_cmdcontrol_topic_status_error_rate',
'/diagnostics_err_/autoware/vehicle/node_alive_monitoring/topic_status/topic_state_monitor_vehicle_status_steering_statusvehicle_topic_status_error_rate',
'/diagnostics_err_/autoware/vehicle/node_alive_monitoring/topic_status/topic_state_monitor_vehicle_status_velocity_statusvehicle_topic_status_now',
'/diagnostics_err_/autoware/system/node_alive_monitoring/topic_status/topic_state_monitor_system_emergency_control_cmdsystem_topic_status_error_rate',
'/diagnostics_err_/autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation/lane_departure_checker_nodetrajectory_deviation_maxyawdeviation',
'/diagnostics_err_/autoware/perception/node_alive_monitoring/topic_status/topic_state_monitor_object_recognition_objectsperception_topic_status_status',
'/diagnostics_err_/autoware/perception/node_alive_monitoring/topic_status/topic_state_monitor_object_recognition_objectsperception_topic_status_now',
'/diagnostics_err_/autoware/vehicle/node_alive_monitoring/topic_status/topic_state_monitor_vehicle_status_steering_statusvehicle_topic_status_measured_rate',
'/diagnostics_err_/autoware/localization/node_alive_monitoring/topic_status/topic_state_monitor_initialpose3dlocalization_topic_status_now',
'/diagnostics_err_/autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_scenario_planning_trajectoryplanning_topic_status_warn_rate',
'/diagnostics_err_/autoware/planning/performance_monitoring/trajectory_validation_trajectory_validation_acceleration',
'/diagnostics_err_/autoware/vehicle/node_alive_monitoring/topic_status/topic_state_monitor_vehicle_status_velocity_statusvehicle_topic_status_last_message_time',
'/diagnostics_err_/autoware/system/node_alive_monitoring/topic_status/topic_state_monitor_system_emergency_control_cmdsystem_topic_status_timeout',
'/diagnostics_err_/autoware/planning/performance_monitoring/trajectory_validation_trajectory_validation_finite',
'/diagnostics_err_/autoware/system/node_alive_monitoring/topic_status/topic_state_monitor_system_emergency_control_cmdsystem_topic_status_now',
'/diagnostics_err_/autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_scenario_planning_trajectoryplanning_topic_status_now',
'/diagnostics_err_/autoware/system/node_alive_monitoring/topic_status/topic_state_monitor_system_emergency_control_cmdsystem_topic_status_topic',
'/diagnostics_err_/autoware/localization/node_alive_monitoring/topic_status/topic_state_monitor_transform_map_to_base_linklocalization_topic_status_measured_rate',
'/diagnostics_err_/autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_mission_planning_routeplanning_topic_status_topic',
'/diagnostics_err_/autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation/lane_departure_checker_nodetrajectory_deviation_yawdeviation',
'/diagnostics_err_/autoware/localization/node_alive_monitoring/topic_status/topic_state_monitor_transform_map_to_base_linklocalization_topic_status_timeout',
'/diagnostics_err_/autoware/localization/node_alive_monitoring/topic_status/topic_state_monitor_initialpose3dlocalization_topic_status_warn_rate',
'/diagnostics_err_/autoware/vehicle/node_alive_monitoring/topic_status/topic_state_monitor_vehicle_status_velocity_statusvehicle_topic_status_error_rate',
'/diagnostics_err_/autoware/system/node_alive_monitoring_topic_status',
'/diagnostics_err_/autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_trajectory_follower_control_cmdcontrol_topic_status_now',
'/diagnostics_err_/autoware/localization/node_alive_monitoring/topic_status/topic_state_monitor_transform_map_to_base_linklocalization_topic_status_topic',
'/diagnostics_err_/autoware/system/emergency_stop_operation_fault_injectionemergency_stop_operation',
'/diagnostics_err_/autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_mission_planning_routeplanning_topic_status_now',
'/diagnostics_err_/autoware/localization/node_alive_monitoring/topic_status/topic_state_monitor_transform_map_to_base_linklocalization_topic_status_warn_rate',
'/diagnostics_err_/autoware/map/node_alive_monitoring_topic_status',
'/diagnostics_err_/autoware/vehicle/node_alive_monitoring/topic_status/topic_state_monitor_vehicle_status_steering_statusvehicle_topic_status_topic',
'/diagnostics_err_/autoware/control/autonomous_driving/node_alive_monitoring_topic_status',
'/diagnostics_err_/autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_scenario_planning_trajectoryplanning_topic_status_status',
'/diagnostics_err_/autoware/localization/node_alive_monitoring/topic_status/topic_state_monitor_initialpose3dlocalization_topic_status_error_rate',
'/diagnostics_err_/autoware/map/node_alive_monitoring/topic_status/topic_state_monitor_vector_mapmap_topic_status_last_message_time',
'/diagnostics_err_/autoware/planning/performance_monitoring/trajectory_validation_trajectory_validation_deceleration',
'/diagnostics_err_/autoware/localization/node_alive_monitoring_topic_status',
'/diagnostics_err_/autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_trajectory_follower_control_cmdcontrol_topic_status_last_message_time',
'/diagnostics_err_/autoware/control/autonomous_driving/performance_monitoring/lane_departure_fault_injectionlane_departure',
'/diagnostics_err_/autoware/map/node_alive_monitoring/topic_status/topic_state_monitor_vector_mapmap_topic_status_error_rate',
'/diagnostics_err_/autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_control_command_control_cmdcontrol_topic_status_now',
'/diagnostics_err_/autoware/vehicle/node_alive_monitoring/topic_status/topic_state_monitor_vehicle_status_velocity_statusvehicle_topic_status_topic',
'/diagnostics_err_/autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation/lane_departure_checker_nodetrajectory_deviation_maxlateraldeviation',
'/diagnostics_err_/autoware/vehicle/node_alive_monitoring/topic_status/topic_state_monitor_vehicle_status_steering_statusvehicle_topic_status_status',
'/diagnostics_err_/autoware/planning/performance_monitoring/trajectory_validation_trajectory_validation_lateral_acceleration',
'/diagnostics_err_/autoware/localization/node_alive_monitoring/topic_status/topic_state_monitor_transform_map_to_base_linklocalization_topic_status_status',
'/diagnostics_err_/autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_mission_planning_routeplanning_topic_status_timeout',
'/diagnostics_err_/autoware/system/node_alive_monitoring/topic_status/topic_state_monitor_system_emergency_control_cmdsystem_topic_status_status',
'/diagnostics_err_/autoware/perception/node_alive_monitoring/topic_status/topic_state_monitor_object_recognition_objectsperception_topic_status_last_message_time',
'/diagnostics_err_/autoware/localization/node_alive_monitoring/topic_status/topic_state_monitor_transform_map_to_base_linklocalization_topic_status_error_rate',
'/diagnostics_err_/autoware/perception/node_alive_monitoring/topic_status/topic_state_monitor_object_recognition_objectsperception_topic_status_error_rate',
'/diagnostics_err_/autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_control_command_control_cmdcontrol_topic_status_last_message_time',
'/diagnostics_err_/autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_trajectory_follower_control_cmdcontrol_topic_status_topic',
'/diagnostics_err_/autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_scenario_planning_trajectoryplanning_topic_status_last_message_time',
'/diagnostics_err_/autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation/lane_departure_checker_nodetrajectory_deviation_maxlongitudinaldeviation',
'/diagnostics_err_/autoware/map/node_alive_monitoring/topic_status/topic_state_monitor_vector_mapmap_topic_status_measured_rate',
'/diagnostics_err_/autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_control_command_control_cmdcontrol_topic_status_error_rate',
'/diagnostics_err_/autoware/vehicle/node_alive_monitoring/topic_status/topic_state_monitor_vehicle_status_steering_statusvehicle_topic_status_timeout',
'/diagnostics_err_/autoware/planning/performance_monitoring/trajectory_validation_trajectory_validation_steering_rate',
'/diagnostics_err_/autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_control_command_control_cmdcontrol_topic_status_measured_rate',
'/diagnostics_err_/autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_mission_planning_routeplanning_topic_status_status',
'/diagnostics_err_/autoware/planning/performance_monitoring/trajectory_validation_trajectory_validation_relative_angle',
'/diagnostics_err_/autoware/vehicle/node_alive_monitoring/topic_status/topic_state_monitor_vehicle_status_steering_statusvehicle_topic_status_now',
'/diagnostics_err_/autoware/localization/node_alive_monitoring/topic_status/topic_state_monitor_transform_map_to_base_linklocalization_topic_status_last_message_time',
'/diagnostics_err_/autoware/planning/performance_monitoring/trajectory_validation_trajectory_validation_steering',
'/diagnostics_err_/autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_trajectory_follower_control_cmdcontrol_topic_status_status',
'/diagnostics_err_/autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_control_command_control_cmdcontrol_topic_status_timeout',
'/diagnostics_err_/autoware/vehicle/node_alive_monitoring/topic_status/topic_state_monitor_vehicle_status_velocity_statusvehicle_topic_status_warn_rate',
'/diagnostics_err_/autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_control_command_control_cmdcontrol_topic_status_topic',
'/diagnostics_err_/autoware/planning/performance_monitoring/trajectory_validation_trajectory_validation_interval',
'/diagnostics_err_/autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_mission_planning_routeplanning_topic_status_measured_rate',
'/diagnostics_err_/autoware/planning/performance_monitoring/trajectory_validation_trajectory_validation_curvature',
'/diagnostics_err_/autoware/perception/node_alive_monitoring_topic_status',
'/diagnostics_err_/autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_control_command_control_cmdcontrol_topic_status_status',
'/diagnostics_err_/autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation_lane_departure_checker_nodetrajectory_deviation',
'/diagnostics_err_/autoware/control/autonomous_driving/performance_monitoring/lane_departure_lane_departure_checker_nodelane_departure',
'/diagnostics_err_/autoware/planning/performance_monitoring/trajectory_validation_trajectory_validation_size',
'/diagnostics_err_/autoware/system/service_log_checker_service_log_checkerresponse_status',
'/diagnostics_err_/autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_mission_planning_routeplanning_topic_status_error_rate',
'/diagnostics_err_/autoware/vehicle/node_alive_monitoring_topic_status',
'/diagnostics_err_/autoware/localization/node_alive_monitoring/topic_status/topic_state_monitor_initialpose3dlocalization_topic_status_last_message_time',
'/diagnostics_err_/autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_trajectory_follower_control_cmdcontrol_topic_status_warn_rate',
'/diagnostics_err_/autoware/perception/node_alive_monitoring/topic_status/topic_state_monitor_object_recognition_objectsperception_topic_status_warn_rate',
'/diagnostics_err_/autoware/localization/node_alive_monitoring/topic_status/topic_state_monitor_initialpose3dlocalization_topic_status_measured_rate',
'/diagnostics_err_/autoware/map/node_alive_monitoring/topic_status/topic_state_monitor_vector_mapmap_topic_status_timeout',
'/diagnostics_err_/autoware/localization/node_alive_monitoring/topic_status/topic_state_monitor_initialpose3dlocalization_topic_status_status',
'/diagnostics_err_/autoware/localization/node_alive_monitoring/topic_status/topic_state_monitor_initialpose3dlocalization_topic_status_timeout',
'/diagnostics_err_/autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_mission_planning_routeplanning_topic_status_warn_rate',
'/diagnostics_err_/autoware/perception/node_alive_monitoring/topic_status/topic_state_monitor_object_recognition_objectsperception_topic_status_topic',
'/diagnostics_err_/autoware/planning/performance_monitoring/trajectory_validation_trajectory_validation_velocity_deviation',
'/diagnostics_err_/autoware/vehicle/node_alive_monitoring/topic_status/topic_state_monitor_vehicle_status_velocity_statusvehicle_topic_status_measured_rate',
'/diagnostics_err_/autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_scenario_planning_trajectoryplanning_topic_status_error_rate',
'/diagnostics_err_/autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_mission_planning_routeplanning_topic_status_last_message_time',
'/diagnostics_err_/autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_control_command_control_cmdcontrol_topic_status_warn_rate',
'/diagnostics_err_/autoware/vehicle/node_alive_monitoring/topic_status/topic_state_monitor_vehicle_status_steering_statusvehicle_topic_status_warn_rate',
'/diagnostics_err_/autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_scenario_planning_trajectoryplanning_topic_status_measured_rate',
'/diagnostics_err_/autoware/map/node_alive_monitoring/topic_status/topic_state_monitor_vector_mapmap_topic_status_topic',
'/diagnostics_err_/autoware/vehicle/node_alive_monitoring/topic_status/topic_state_monitor_vehicle_status_velocity_statusvehicle_topic_status_status',
'/diagnostics_err_/autoware/map/node_alive_monitoring/topic_status/topic_state_monitor_vector_mapmap_topic_status_warn_rate',
'/diagnostics_err_/autoware/localization/node_alive_monitoring/topic_status/topic_state_monitor_initialpose3dlocalization_topic_status_topic'
],
'external': [
'/external/selected/turn_indicators_cmd',
'/external/selected/control_cmd',
'/external/selected/external_control_cmd',
'/external/selected/gear_cmd',
'/external/selected/heartbeat',
'/external/selected/hazard_lights_cmd'
],
'system': [
'/system/component_state_monitor/component/launch/sensing',
'/system/emergency/gear_cmd',
'/system/mrm/emergency_stop/status',
'/system/fail_safe/mrm_state',
'/system/component_state_monitor/component/autonomous/perception',
'/system/mrm/comfortable_stop/status',
'/system/component_state_monitor/component/launch/perception',
'/system/component_state_monitor/component/autonomous/sensing',
'/system/component_state_monitor/component/launch/vehicle',
'/system/component_state_monitor/component/autonomous/localization',
'/system/component_state_monitor/component/launch/planning',
'/system/component_state_monitor/component/autonomous/planning',
'/system/component_state_monitor/component/launch/map',
'/system/component_state_monitor/component/autonomous/map',
'/system/component_state_monitor/component/launch/localization',
'/system/component_state_monitor/component/launch/system',
'/system/component_state_monitor/component/launch/control',
'/system/component_state_monitor/component/autonomous/control',
'/system/component_state_monitor/component/autonomous/vehicle',
'/system/emergency_handler/output/control_command',
'/system/emergency/control_cmd', '/system/emergency/hazard_status',
'/system/operation_mode/state',
'/system/component_state_monitor/component/autonomous/system',
'/system/emergency/hazard_lights_cmd'
],
'tf': ['/tf'],
'autoware': ['/autoware/engage', '/autoware/state'],
'diagnostic': [
'/diagnostic/planning_evaluator/metrics_curvature_mean',
'/diagnostic/planning_evaluator/metrics_velocity_max',
'/diagnostic/planning_evaluator/metrics_point_interval_min',
'/diagnostic/planning_evaluator/metrics_relative_angle_mean',
'/diagnostic/planning_evaluator/metrics_jerk_mean',
'/diagnostic/planning_evaluator/metrics',
'/diagnostic/planning_evaluator/metrics_stability_min',
'/diagnostic/planning_evaluator/metrics_yaw_deviation_mean',
'/diagnostic/planning_evaluator/metrics_jerk_min',
'/diagnostic/planning_evaluator/metrics_point_interval_mean',
'/diagnostic/planning_evaluator/metrics_length_mean',
'/diagnostic/planning_evaluator/metrics_obstacle_distance_max',
'/diagnostic/planning_evaluator/metrics_point_interval_max',
'/diagnostic/planning_evaluator/metrics_lateral_deviation_max',
'/diagnostic/planning_evaluator/metrics_stability_mean',
'/diagnostic/planning_evaluator/metrics_stability_frechet_max',
'/diagnostic/planning_evaluator/metrics_stability_frechet_min',
'/diagnostic/planning_evaluator/metrics_velocity_deviation_min',
'/diagnostic/planning_evaluator/metrics_duration_max',
'/diagnostic/planning_evaluator/metrics_velocity_deviation_max',
'/diagnostic/planning_evaluator/metrics_acceleration_mean',
'/diagnostic/planning_evaluator/metrics_relative_angle_min',
'/diagnostic/planning_evaluator/metrics_relative_angle_max',
'/diagnostic/planning_evaluator/metrics_curvature_max',
'/diagnostic/planning_evaluator/metrics_velocity_deviation_mean',
'/diagnostic/planning_evaluator/metrics_duration_mean',
'/diagnostic/planning_evaluator/metrics_lateral_deviation_min',
'/diagnostic/planning_evaluator/metrics_curvature_min',
'/diagnostic/planning_evaluator/metrics_acceleration_min',
'/diagnostic/planning_evaluator/metrics_acceleration_max',
'/diagnostic/planning_evaluator/metrics_velocity_min',
'/diagnostic/planning_evaluator/metrics_duration_min',
'/diagnostic/planning_evaluator/metrics_length_max',
'/diagnostic/planning_evaluator/metrics_stability_max',
'/diagnostic/planning_evaluator/metrics_stability_frechet_mean',
'/diagnostic/planning_evaluator/metrics_obstacle_distance_mean',
'/diagnostic/planning_evaluator/metrics_velocity_mean',
'/diagnostic/planning_evaluator/metrics_lateral_deviation_mean',
'/diagnostic/planning_evaluator/metrics_obstacle_distance_min',
'/diagnostic/planning_evaluator/metrics_yaw_deviation_max',
'/diagnostic/planning_evaluator/metrics_yaw_deviation_min',
'/diagnostic/planning_evaluator/metrics_jerk_max',
'/diagnostic/planning_evaluator/metrics_length_min'
],
'control': [
'/control/trajectory_follower/controller_node_exe/longitudinal/debug/processing_time_ms',
'/control/command/emergency_cmd',
'/control/vehicle_cmd_gate/is_filter_activated/marker',
'/control/command/turn_indicators_cmd',
'/control/trajectory_follower/lane_departure_checker_node/debug/processing_time_ms',
'/control/trajectory_follower/controller_node_exe/lateral/debug/processing_time_ms',
'/control/trajectory_follower/lane_departure_checker_node/debug/marker_array',
'/control/command/control_cmd',
'/control/vehicle_cmd_gate/is_start_requested',
'/control/command/gear_cmd', '/control/control_validator/virtual_wall',
'/control/external_cmd_selector/current_selector_mode',
'/control/trajectory_follower/longitudinal/diagnostic',
'/control/current_gate_mode',
'/control/trajectory_follower/controller_node_exe/debug/predicted_trajectory_in_frenet_coordinate',
'/control/trajectory_follower/longitudinal/slope_angle',
'/control/control_validator/debug/marker',
'/control/trajectory_follower/controller_node_exe/output/debug_marker',
'/control/control_validator/validation_status',
'/control/control_validator/output/markers',
'/control/shift_decider/gear_cmd',
'/control/trajectory_follower/lane_departure_checker_node/debug/deviation/lateral',
'/control/vehicle_cmd_gate/operation_mode',
'/control/trajectory_follower/lateral/predicted_trajectory',
'/control/trajectory_follower/lane_departure_checker_node/debug/deviation/yaw_deg',
'/control/vehicle_cmd_gate/is_filter_activated/marker_raw',
'/control/trajectory_follower/control_cmd', '/control/gate_mode_cmd',
'/control/command/hazard_lights_cmd',
'/control/vehicle_cmd_gate/is_stopped',
'/control/vehicle_cmd_gate/is_filter_activated',
'/control/trajectory_follower/controller_node_exe/output/estimated_steer_offset',
'/control/operation_mode_transition_manager/debug_info',
'/control/trajectory_follower/lane_departure_checker_node/debug/deviation/yaw',
'/control/vehicle_cmd_gate/is_paused',
'/control/trajectory_follower/lateral/diagnostic',
'/control/vehicle_cmd_gate/is_filter_activated/flag'
],
'api': [
'/api/external/get/vehicle/status', '/api/fail_safe/mrm_state',
'/api/external/get/command/selected/control',
'/api/iv_msgs/vehicle/status/control_mode',
'/api/autoware/get/operator', '/api/external/get/door',
'/api/autoware/get/map/info/hash', '/api/planning/velocity_factors',
'/api/external/get/emergency', '/api/autoware/get/engage',
'/api/planning/steering_factors', '/api/vehicle/status',
'/api/routing/route', '/api/autoware/get/observer',
'/api/external/get/engage', '/api/motion/state',
'/api/autoware/get/emergency', '/api/external/get/rtc_status',
'/api/external/get/diagnostics', '/api/external/get/map/info/hash',
'/api/external/get/operator', '/api/external/get/observer',
'/api/external/get/cpu_usage',
'/api/localization/initialization_state', '/api/external/get/route',
'/api/vehicle/kinematics',
'/api/external/get/command/selected/vehicle',
'/api/iv_msgs/planning/scenario_planning/trajectory',
'/api/external/get/calibration_status',
'/api/external/get/localization_scores',
'/api/autoware/get/velocity_limit', '/api/external/get/rtc_auto_mode',
'/api/iv_msgs/perception/object_recognition/tracking/objects',
'/api/operation_mode/state', '/api/external/get/service',
'/api/external/get/fail_safe/state', '/api/perception/objects',
'/api/iv_msgs/autoware/state', '/api/routing/state',
'/api/external/get/rosbag_logging_mode'
],
'perception': [
'/perception/occupancy_grid_map/map',
'/perception/object_recognition/detection/objects',
'/perception/object_recognition/prediction/map_based_prediction/debug/calculation_time',
'/perception/object_recognition/tracking/multi_object_tracker/debug/cyclic_time_ms',
'/perception/object_recognition/objects',
'/perception/traffic_light_recognition/traffic_signals',
'/perception/traffic_light_recognition/external/traffic_signals',
'/perception/object_recognition/ground_truth/objects',
'/perception/object_recognition/tracking/objects',
'/perception/object_recognition/tracking/multi_object_tracker/debug/elapsed_time_from_sensor_input_ms',
'/perception/object_recognition/prediction/maneuver',
'/perception/obstacle_segmentation/pointcloud',
'/perception/object_recognition/tracking/multi_object_tracker/debug/processing_time_ms'
],
'simulation': [
'/simulation/entity/marker',
'/simulation/lanelet/marker',
'/simulation/openscenario_interpreter/transition_event',
'/simulation/traffic_light/marker',
'/simulation/entity/status',
'/simulation/context',
'/simulation/debug_marker'
],
'localization': [
'/localization/acceleration',
'/localization/kinematic_state',
'/localization/initialization_state'
],
'map': [
'/map/map_projector_info',
'/map/vector_map',
'/map/pointcloud_map',
'/map/vector_map_marker'
],
'rosout': ['/rosout'],
'vehicle': [
'/vehicle/status/control_mode',
'/vehicle/status/turn_indicators_status',
'/vehicle/status/steering_status',
'/vehicle/status/velocity_status',
'/vehicle/status/gear_status'
],
'tf_static': ['/tf_static'],
'initialpose3d': ['/initialpose3d'],
'robot_description': ['/robot_description'],
'autoware_api': ['/autoware_api/utils/path_distance_calculator/distance'],
'v2x': ['/v2x/traffic_signals'],
'parameter_events': ['/parameter_events'],
'clock': ['/clock'],
'diagnostics': ['/diagnostics'],
'diagnostics_toplevel_state': ['/diagnostics_toplevel_state'],
'diagnostics_agg': ['/diagnostics_agg'],
'diagnostics_err': ['/diagnostics_err'],
'service_log': ['/service_log'],
'events': ['/events/write_split']
}