From 9aa61e616090be1d7a73931140c4740b3e6d8d6c Mon Sep 17 00:00:00 2001
From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
Date: Mon, 10 Feb 2025 23:03:55 +0900
Subject: [PATCH] fix: add missing includes to autoware_universe_utils (#10091)

Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
---
 .../src/control_performance_analysis_core.cpp                  | 1 +
 .../src/longitudinal_controller_utils.cpp                      | 1 +
 .../predicted_path_checker_node.cpp                            | 1 +
 .../src/predicted_path_checker_node/utils.cpp                  | 2 ++
 .../autoware_pure_pursuit_lateral_controller.cpp               | 1 +
 .../src/autoware_freespace_planner/utils.cpp                   | 2 ++
 planning/autoware_obstacle_stop_planner/src/node.hpp           | 1 +
 planning/autoware_obstacle_stop_planner/src/planner_utils.cpp  | 1 +
 .../include/autoware/path_smoother/utils/trajectory_utils.hpp  | 1 +
 planning/autoware_path_smoother/src/utils/trajectory_utils.cpp | 1 +
 planning/autoware_velocity_smoother/src/resample.cpp           | 1 +
 .../analytical_jerk_constrained_smoother.cpp                   | 1 +
 .../velocity_planning_utils.cpp                                | 1 +
 .../utils/path_safety_checker/safety_check.hpp                 | 1 +
 .../src/utils/path_safety_checker/objects_filtering.cpp        | 1 +
 .../autoware_behavior_path_planner_common/src/utils/utils.cpp  | 1 +
 .../type_alias.hpp                                             | 1 +
 .../autoware_behavior_velocity_intersection_module/package.xml | 1 -
 .../src/util.cpp                                               | 1 +
 .../src/util.cpp                                               | 1 +
 .../src/utilization/path_utilization.cpp                       | 1 +
 .../src/utilization/util.cpp                                   | 1 +
 .../autoware_behavior_velocity_run_out_module/src/scene.cpp    | 1 +
 .../autoware_behavior_velocity_run_out_module/src/utils.cpp    | 1 +
 .../test/test_dynamic_obstacle.cpp                             | 1 +
 .../src/collision.cpp                                          | 1 +
 .../src/object_filtering.cpp                                   | 2 ++
 .../src/filter_predicted_objects.cpp                           | 1 +
 .../include/autoware_path_sampler/utils/geometry_utils.hpp     | 1 +
 .../include/autoware_path_sampler/utils/trajectory_utils.hpp   | 1 +
 .../sampling_based_planner/autoware_sampler_common/package.xml | 1 +
 tools/reaction_analyzer/src/reaction_analyzer_node.cpp         | 3 +++
 vehicle/autoware_raw_vehicle_cmd_converter/package.xml         | 1 +
 33 files changed, 37 insertions(+), 1 deletion(-)

diff --git a/control/autoware_control_performance_analysis/src/control_performance_analysis_core.cpp b/control/autoware_control_performance_analysis/src/control_performance_analysis_core.cpp
index a5b818c64592e..ee4b4ad816a7f 100644
--- a/control/autoware_control_performance_analysis/src/control_performance_analysis_core.cpp
+++ b/control/autoware_control_performance_analysis/src/control_performance_analysis_core.cpp
@@ -16,6 +16,7 @@
 
 #include "autoware/motion_utils/trajectory/interpolation.hpp"
 #include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/pose_deviation.hpp"
 
 #include <algorithm>
 #include <limits>
diff --git a/control/autoware_pid_longitudinal_controller/src/longitudinal_controller_utils.cpp b/control/autoware_pid_longitudinal_controller/src/longitudinal_controller_utils.cpp
index fe500d2551623..9dc9e71ba25bc 100644
--- a/control/autoware_pid_longitudinal_controller/src/longitudinal_controller_utils.cpp
+++ b/control/autoware_pid_longitudinal_controller/src/longitudinal_controller_utils.cpp
@@ -14,6 +14,7 @@
 
 #include "autoware/pid_longitudinal_controller/longitudinal_controller_utils.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "tf2/LinearMath/Matrix3x3.h"
 #include "tf2/LinearMath/Quaternion.h"
 
diff --git a/control/autoware_predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp b/control/autoware_predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp
index e849508f32e50..559e19fe8e0ea 100644
--- a/control/autoware_predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp
+++ b/control/autoware_predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp
@@ -17,6 +17,7 @@
 #include <autoware/motion_utils/marker/marker_helper.hpp>
 #include <autoware/motion_utils/resample/resample.hpp>
 #include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
 #include <autoware/universe_utils/math/unit_conversion.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
 
diff --git a/control/autoware_predicted_path_checker/src/predicted_path_checker_node/utils.cpp b/control/autoware_predicted_path_checker/src/predicted_path_checker_node/utils.cpp
index c3d4a8b3c7594..a5b1b08d32c1d 100644
--- a/control/autoware_predicted_path_checker/src/predicted_path_checker_node/utils.cpp
+++ b/control/autoware_predicted_path_checker/src/predicted_path_checker_node/utils.cpp
@@ -14,6 +14,8 @@
 
 #include "autoware/predicted_path_checker/utils.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+
 #include <boost/format.hpp>
 #include <boost/geometry/algorithms/convex_hull.hpp>
 #include <boost/geometry/strategies/agnostic/hull_graham_andrew.hpp>
diff --git a/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp b/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp
index d173cfe64d3e8..d2aba8a2f1d01 100644
--- a/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp
+++ b/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp
@@ -34,6 +34,7 @@
 #include "autoware/pure_pursuit/util/planning_utils.hpp"
 #include "autoware/pure_pursuit/util/tf_utils.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 
 #include <algorithm>
diff --git a/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp b/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp
index a08c62723c3d5..ea58ce626bcc9 100644
--- a/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp
+++ b/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp
@@ -15,6 +15,8 @@
 #include "autoware/freespace_planner/utils.hpp"
 
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
 
 #include <deque>
 #include <vector>
diff --git a/planning/autoware_obstacle_stop_planner/src/node.hpp b/planning/autoware_obstacle_stop_planner/src/node.hpp
index ea8aed19bdcfd..a48c8c9ba53ac 100644
--- a/planning/autoware_obstacle_stop_planner/src/node.hpp
+++ b/planning/autoware_obstacle_stop_planner/src/node.hpp
@@ -24,6 +24,7 @@
 #include <autoware/motion_utils/trajectory/conversion.hpp>
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 #include <autoware/universe_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware/universe_utils/ros/published_time_publisher.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 #include <pcl_ros/transforms.hpp>
diff --git a/planning/autoware_obstacle_stop_planner/src/planner_utils.cpp b/planning/autoware_obstacle_stop_planner/src/planner_utils.cpp
index 5cdb48a9d6a70..91f84520e0cd9 100644
--- a/planning/autoware_obstacle_stop_planner/src/planner_utils.cpp
+++ b/planning/autoware_obstacle_stop_planner/src/planner_utils.cpp
@@ -18,6 +18,7 @@
 #include <autoware/motion_utils/trajectory/conversion.hpp>
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 #include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <diagnostic_msgs/msg/key_value.hpp>
 
diff --git a/planning/autoware_path_smoother/include/autoware/path_smoother/utils/trajectory_utils.hpp b/planning/autoware_path_smoother/include/autoware/path_smoother/utils/trajectory_utils.hpp
index e7f64a896bdd3..f523eb14986e7 100644
--- a/planning/autoware_path_smoother/include/autoware/path_smoother/utils/trajectory_utils.hpp
+++ b/planning/autoware_path_smoother/include/autoware/path_smoother/utils/trajectory_utils.hpp
@@ -21,6 +21,7 @@
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
 #include "autoware/path_smoother/common_structs.hpp"
 #include "autoware/path_smoother/type_alias.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include <Eigen/Core>
 
diff --git a/planning/autoware_path_smoother/src/utils/trajectory_utils.cpp b/planning/autoware_path_smoother/src/utils/trajectory_utils.cpp
index 37c27eaae6f93..15784bf814dc7 100644
--- a/planning/autoware_path_smoother/src/utils/trajectory_utils.cpp
+++ b/planning/autoware_path_smoother/src/utils/trajectory_utils.cpp
@@ -17,6 +17,7 @@
 #include "autoware/motion_utils/resample/resample.hpp"
 #include "autoware/motion_utils/trajectory/conversion.hpp"
 #include "autoware/path_smoother/utils/geometry_utils.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include "autoware_planning_msgs/msg/path_point.hpp"
 #include "autoware_planning_msgs/msg/trajectory_point.hpp"
diff --git a/planning/autoware_velocity_smoother/src/resample.cpp b/planning/autoware_velocity_smoother/src/resample.cpp
index f69ad5a592272..7be67cea85f6d 100644
--- a/planning/autoware_velocity_smoother/src/resample.cpp
+++ b/planning/autoware_velocity_smoother/src/resample.cpp
@@ -17,6 +17,7 @@
 #include "autoware/motion_utils/resample/resample.hpp"
 #include "autoware/motion_utils/trajectory/conversion.hpp"
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware/velocity_smoother/trajectory_utils.hpp"
 
 #include <algorithm>
diff --git a/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp b/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp
index fcbcde84fe1ea..85034dfee2bd8 100644
--- a/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp
+++ b/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp
@@ -16,6 +16,7 @@
 
 #include "autoware/motion_utils/resample/resample.hpp"
 #include "autoware/motion_utils/trajectory/conversion.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware/velocity_smoother/trajectory_utils.hpp"
 
 #include <algorithm>
diff --git a/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp b/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp
index 48f3138cfe151..0f4f7121c7597 100644
--- a/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp
+++ b/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp
@@ -15,6 +15,7 @@
 #include "autoware/velocity_smoother/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.hpp"
 
 #include "autoware/interpolation/linear_interpolation.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include <algorithm>
 #include <vector>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp
index 23ff10a2a0abf..cd9a7672949f1 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp
@@ -20,6 +20,7 @@
 
 #include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_object.hpp>
 #include <autoware_perception_msgs/msg/predicted_path.hpp>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp
index 00e9a0f567e7c..7e021233bbfe2 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp
@@ -19,6 +19,7 @@
 
 #include <autoware/motion_utils/trajectory/interpolation.hpp>
 #include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
 
 #include <boost/geometry/algorithms/distance.hpp>
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp
index e5735e4e9a14f..ea3be73b5516c 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp
@@ -19,6 +19,7 @@
 #include <autoware/motion_utils/resample/resample.hpp>
 #include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
 #include <autoware/universe_utils/math/unit_conversion.hpp>
 #include <autoware_lanelet2_extension/utility/message_conversion.hpp>
 #include <autoware_lanelet2_extension/utility/query.hpp>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp
index a89a154250d8b..96cc3f3bfc6aa 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp
@@ -20,6 +20,7 @@
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 #include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
 #include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
 #include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <autoware/universe_utils/ros/uuid_helper.hpp>
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml
index 644bcbe7a3de7..8d4690d5ce408 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml
@@ -31,7 +31,6 @@
   <depend>autoware_route_handler</depend>
   <depend>autoware_rtc_interface</depend>
   <depend>autoware_test_utils</depend>
-  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>fmt</depend>
   <depend>geometry_msgs</depend>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp
index 22b4965235b95..3234e3a10f8aa 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp
@@ -20,6 +20,7 @@
 #include <autoware/behavior_velocity_planner_common/utilization/path_utilization.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware_lanelet2_extension/utility/utilities.hpp>
 
 #include <boost/geometry/algorithms/correct.hpp>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/util.cpp
index 7da73a313da79..3ca6dccd77e6d 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/util.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/util.cpp
@@ -19,6 +19,7 @@
 
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
 #include <autoware/motion_utils/marker/virtual_wall_marker_creator.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <lanelet2_core/geometry/Polygon.h>
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp
index 27f2e8f5554fb..445aebe6002ab 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp
@@ -15,6 +15,7 @@
 #include <autoware/behavior_velocity_planner_common/utilization/path_utilization.hpp>
 #include <autoware/motion_utils/resample/resample.hpp>
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <algorithm>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp
index 1ae04b6cf9ef1..6b20496d956eb 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp
@@ -16,6 +16,7 @@
 
 #include "autoware/behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp"
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware_lanelet2_extension/utility/query.hpp"
 
 #include <autoware_planning_msgs/msg/path_point.hpp>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp
index 7ad31d42f27f1..32cdddc55634b 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp
@@ -22,6 +22,7 @@
 #include <autoware/motion_utils/distance/distance.hpp>
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 #include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
 #include <autoware/universe_utils/ros/uuid_helper.hpp>
 
 #include <boost/geometry/algorithms/intersection.hpp>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp
index 9a9a49c3cb081..5c787234aafe1 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp
@@ -16,6 +16,7 @@
 
 #include <autoware/motion_utils/distance/distance.hpp>
 #include <autoware/motion_utils/trajectory/path_with_lane_id.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
 
 #include <boost/geometry/algorithms/correct.hpp>
 #include <boost/geometry/algorithms/intersects.hpp>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/test/test_dynamic_obstacle.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/test/test_dynamic_obstacle.cpp
index f7051125eb480..948ee17421eac 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/test/test_dynamic_obstacle.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/test/test_dynamic_obstacle.cpp
@@ -21,6 +21,7 @@
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 #include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
 #include <autoware/universe_utils/math/normalization.hpp>
 #include <autoware_test_utils/autoware_test_utils.hpp>
 #include <rclcpp/clock.hpp>
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/collision.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/collision.cpp
index 349108c138650..73745c39ad221 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/collision.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/collision.cpp
@@ -16,6 +16,7 @@
 
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 #include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware/universe_utils/ros/uuid_helper.hpp>
 
 #include <boost/geometry.hpp>
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/object_filtering.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/object_filtering.cpp
index 850255e0c5093..1e2f7f2466cf9 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/object_filtering.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/object_filtering.cpp
@@ -17,6 +17,8 @@
 #include "types.hpp"
 
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
 
 #include <geometry_msgs/msg/detail/pose__struct.hpp>
 
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp
index baf481a56bbff..5d8f0a5e43610 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp
@@ -17,6 +17,7 @@
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 #include <autoware/traffic_light_utils/traffic_light_utils.hpp>
 #include <autoware/universe_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <boost/geometry/algorithms/detail/intersects/interface.hpp>
 #include <boost/geometry/algorithms/intersects.hpp>
diff --git a/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/geometry_utils.hpp b/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/geometry_utils.hpp
index 65ee862592bef..60ac81f8b6654 100644
--- a/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/geometry_utils.hpp
+++ b/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/geometry_utils.hpp
@@ -19,6 +19,7 @@
 #include "autoware/interpolation/spline_interpolation.hpp"
 #include "autoware/interpolation/spline_interpolation_points_2d.hpp"
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware_path_sampler/common_structs.hpp"
 #include "autoware_path_sampler/type_alias.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
diff --git a/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/trajectory_utils.hpp b/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/trajectory_utils.hpp
index 73a2b0c95493e..5bab37287ae52 100644
--- a/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/trajectory_utils.hpp
+++ b/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/trajectory_utils.hpp
@@ -19,6 +19,7 @@
 #include "autoware/interpolation/spline_interpolation.hpp"
 #include "autoware/interpolation/spline_interpolation_points_2d.hpp"
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware_path_sampler/common_structs.hpp"
 #include "autoware_path_sampler/type_alias.hpp"
 #include "autoware_sampler_common/structures.hpp"
diff --git a/planning/sampling_based_planner/autoware_sampler_common/package.xml b/planning/sampling_based_planner/autoware_sampler_common/package.xml
index a190c56969368..385f0da88d846 100644
--- a/planning/sampling_based_planner/autoware_sampler_common/package.xml
+++ b/planning/sampling_based_planner/autoware_sampler_common/package.xml
@@ -12,6 +12,7 @@
   <build_depend>autoware_cmake</build_depend>
 
   <depend>autoware_interpolation</depend>
+  <depend>autoware_universe_utils</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp
index 02743537d6bb3..1a4b2e7367705 100644
--- a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp
+++ b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp
@@ -14,6 +14,9 @@
 
 #include "reaction_analyzer_node.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
+
 #include <functional>
 #include <map>
 #include <memory>
diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml
index 2a200ea92967d..815ebf33159e2 100644
--- a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml
@@ -25,6 +25,7 @@
   <depend>autoware_control_msgs</depend>
   <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_interpolation</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>