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guillermo-sarabiaguillermo-sarabia
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Merge branch 'add_klepsydra_executor' into update_klepsydra_executor
2 parents 6841ac5 + 80a8038 commit f48df20

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+332
-47
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6 files changed

+332
-47
lines changed

‎.gitignore‎

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@@ -8,3 +8,5 @@ doxybook2**
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bin
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include
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lib
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**/**/**/**/config.h
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**/**/**/**/streaming_conf.json

‎autoware_reference_system/CMakeLists.txt‎

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@@ -67,7 +67,18 @@ add_benchmark_executable(autoware_default_custom
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src/ros2/executor/autoware_default_klepsydrasinglethreaded.cpp
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)
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set(CONF_DATA ${CMAKE_CURRENT_SOURCE_DIR}/src/ros2/data)
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#Configure modules header with variables configured
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configure_file("${CMAKE_CURRENT_SOURCE_DIR}/src/ros2/common/config.h.in"
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"${CMAKE_CURRENT_SOURCE_DIR}/src/ros2/common/config.h")
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configure_file("${CMAKE_CURRENT_SOURCE_DIR}/src/ros2/data/streaming_conf.json.in"
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"${CMAKE_CURRENT_SOURCE_DIR}/src/ros2/data/streaming_conf.json")
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target_include_directories(
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autoware_default_custom PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/ros2/common)
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ament_export_include_directories(autoware_default_custom PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/ros2/common)
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ament_target_dependencies(autoware_default_custom ${dependencies})
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if(${BUILD_TESTING})

‎autoware_reference_system/src/ros2/common/config.h.in‎

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#cmakedefine CONF_DATA "@CONF_DATA@"

‎autoware_reference_system/src/ros2/data/streaming_conf.json.in‎

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{
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"StringProperties": {
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"container_name": "test",
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"log_filename": "",
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"streaming_conf_file":"@CONF_DATA@/streaming_policy.json",
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"processor_intensive_layers": "max"
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},
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"BoolProperties": {
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"test_dnn": false,
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"stat_socket_container_enable": false,
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"stat_file_container_enable": false,
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"use_default_streaming_factory": false
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},
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"IntProperties": {
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"stat_log_interval_ms": 1000,
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"pool_size": 1,
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"stat_admin_port": 9595,
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"stat_system_port": 9696,
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"log_level": 0,
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"number_of_event_loops": 4,
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"number_of_cores": 4,
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"critical_thread_pool_size": 32,
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"non_critical_thread_pool_size": 32,
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"number_of_parallel_threads": 1
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}
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}

‎autoware_reference_system/src/ros2/data/streaming_policy.json‎

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{
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"pool_size": 1,
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"number_of_cores": 4,
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"number_of_event_loops": 4,
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"number_of_parallel_threads": 1,
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"non_critical_thread_pool_size": 32,
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"event_loop_core_map": {
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"0": [
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0
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],
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"1": [
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1
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],
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"2": [
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2
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],
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"3": [
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3
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]
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},
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"layer_event_loop_map": {
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"BehaviorPlanner$ObjectCollisionEstimator": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"BehaviorPlanner$NDTLocalizer": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"BehaviorPlanner$Lanelet2GlobalPlanner": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"BehaviorPlanner$ParkingPlanner": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"BehaviorPlanner$LanePlanner": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"BehaviorPlanner$Lanelet2MapLoader": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"BehaviorPlanner$parameter_events": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"EuclideanClusterDetector$RayGroundFilter": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"EuclideanClusterDetector$EuclideanClusterSettings": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"EuclideanClusterDetector$parameter_events": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"EuclideanClusterSettings$parameter_events": {
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"coreId": 2,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"FrontLidarDriver$parameter_events": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"IntersectionOutput$EuclideanIntersection": {
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"coreId": 1,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"IntersectionOutput$parameter_events": {
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"coreId": 1,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"LanePlanner$Lanelet2MapLoader": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"LanePlanner$parameter_events": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"Lanelet2GlobalPlanner$Visualizer": {
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"coreId": 0,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"Lanelet2GlobalPlanner$NDTLocalizer": {
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"coreId": 0,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"Lanelet2GlobalPlanner$parameter_events": {
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"coreId": 0,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"Lanelet2Map$parameter_events": {
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"coreId": 1,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"Lanelet2MapLoader$Lanelet2Map": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"Lanelet2MapLoader$Lanelet2GlobalPlanner": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"Lanelet2MapLoader$parameter_events": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"MPCController$BehaviorPlanner": {
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"coreId": 2,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"MPCController$parameter_events": {
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"coreId": 2,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"NDTLocalizer$VoxelGridDownsampler": {
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"coreId": 2,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"NDTLocalizer$PointCloudMapLoader": {
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"coreId": 2,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"NDTLocalizer$parameter_events": {
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"coreId": 2,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"ObjectCollisionEstimator$EuclideanClusterDetector": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"ObjectCollisionEstimator$parameter_events": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"ParkingPlanner$Lanelet2MapLoader": {
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"coreId": 2,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"ParkingPlanner$parameter_events": {
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"coreId": 2,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"PointCloudFusion$PointsTransformerFront": {
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"coreId": 2,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"PointCloudFusion$PointsTransformerRear": {
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"coreId": 2,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"PointCloudFusion$parameter_events": {
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"coreId": 2,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"PointCloudMap$parameter_events": {
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"coreId": 0,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"PointCloudMapLoader$PointCloudMap": {
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"coreId": 1,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"PointCloudMapLoader$parameter_events": {
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"coreId": 1,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"PointsTransformerFront$FrontLidarDriver": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"PointsTransformerFront$parameter_events": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"PointsTransformerRear$RearLidarDriver": {
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"coreId": 2,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"PointsTransformerRear$parameter_events": {
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"coreId": 2,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"RayGroundFilter$PointCloudFusion": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"RayGroundFilter$parameter_events": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"RearLidarDriver$parameter_events": {
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"coreId": 0,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"VehicleDBWSystem$VehicleInterface": {
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"coreId": 2,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"VehicleDBWSystem$parameter_events": {
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"coreId": 2,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"VehicleInterface$MPCController": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"VehicleInterface$BehaviorPlanner": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"VehicleInterface$parameter_events": {
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"coreId": 3,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"Visualizer$parameter_events": {
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"coreId": 0,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"VoxelGridDownsampler$PointCloudFusion": {
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"coreId": 2,
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"unescapedStepName": "",
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"factoryType": 1
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},
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"VoxelGridDownsampler$parameter_events": {
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"coreId": 2,
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"unescapedStepName": "",
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"factoryType": 1
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}
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},
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"parallised_layers": []
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}

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