From c5794ac56a2b3bc93347f956ac4bac53e3b79000 Mon Sep 17 00:00:00 2001
From: Hayato Mizushima <hayato-m126@users.noreply.github.com>
Date: Wed, 19 Feb 2025 14:23:33 +0900
Subject: [PATCH] docs: update architecture

Signed-off-by: Hayato Mizushima <hayato-m126@users.noreply.github.com>
---
 docs/overview/images/overview.drawio.svg | 398 ++++++++++++++---------
 1 file changed, 250 insertions(+), 148 deletions(-)

diff --git a/docs/overview/images/overview.drawio.svg b/docs/overview/images/overview.drawio.svg
index 229a51dd..f59aa480 100644
--- a/docs/overview/images/overview.drawio.svg
+++ b/docs/overview/images/overview.drawio.svg
@@ -1,25 +1,25 @@
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                                                 subscribe
                                                 <br/>
                                                 topics
@@ -27,7 +27,7 @@
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                                                 nodes launched  by logging_simulator.launch
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@@ -67,7 +67,7 @@
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                                     nodes launched  by logging_simulator.lau...
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                                     read parameter
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-                                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 198px; height: 1px; padding-top: 30px; margin-left: 206px;">
+                                        <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
+                                            <div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
                                                 driving_log_replayer_v2.launch.py
                                             </div>
                                         </div>
                                     </div>
                                 </foreignObject>
-                                <text x="100" y="174" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                                <text x="305" y="34" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
                                     driving_log_replayer_v2.launch.py
                                 </text>
                             </switch>
@@ -146,16 +146,16 @@
                 </g>
                 <g data-cell-id="47">
                     <g>
-                        <path d="M 385 402.5 L 384 402.5 L 384 396.37" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-                        <path d="M 384 391.12 L 387.5 398.12 L 384 396.37 L 380.5 398.12 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+                        <path d="M 290 510 L 289 510 L 289 496.37" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+                        <path d="M 289 491.12 L 292.5 498.12 L 289 496.37 L 285.5 498.12 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
                     </g>
                     <g>
                         <g transform="translate(-0.5 -0.5)">
                             <switch>
-                                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
-                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 311px; margin-left: 326px;">
-                                        <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
-                                            <div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">
+                                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 420px; margin-left: 230px;">
+                                        <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; background-color: #ffffff; ">
+                                            <div style="display: inline-block; font-size: 11px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; background-color: light-dark(#ffffff, var(--ge-dark-color, #121212)); white-space: nowrap; ">
                                                 read
                                                 <br/>
                                                 sensor / CAN data
@@ -163,54 +163,30 @@
                                         </div>
                                     </div>
                                 </foreignObject>
-                                <text x="326" y="314" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">
+                                <text x="230" y="423" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">
                                     read...
                                 </text>
                             </switch>
                         </g>
                     </g>
                 </g>
-                <g data-cell-id="92">
-                    <g>
-                        <path d="M 385 220 L 376 220 L 376 206.37" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
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-                    </g>
-                    <g>
-                        <g transform="translate(-0.5 -0.5)">
-                            <switch>
-                                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
-                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 214px; margin-left: 376px;">
-                                        <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
-                                            <div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">
-                                                play
-                                            </div>
-                                        </div>
-                                    </div>
-                                </foreignObject>
-                                <text x="376" y="217" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">
-                                    play
-                                </text>
-                            </switch>
-                        </g>
-                    </g>
-                </g>
                 <g data-cell-id="9">
                     <g>
-                        <rect x="345" y="220" width="80" height="60" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+                        <rect x="250" y="320" width="80" height="60" fill="#ffffff" stroke="#000000" pointer-events="all" style="fill: light-dark(#ffffff, var(--ge-dark-color, #121212)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
                     </g>
                     <g>
                         <g transform="translate(-0.5 -0.5)">
                             <switch>
-                                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
-                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 78px; height: 1px; padding-top: 250px; margin-left: 346px;">
-                                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
-                                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 78px; height: 1px; padding-top: 350px; margin-left: 251px;">
+                                        <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
+                                            <div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
                                                 ros2 bag play
                                             </div>
                                         </div>
                                     </div>
                                 </foreignObject>
-                                <text x="385" y="254" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                                <text x="290" y="354" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
                                     ros2 bag play
                                 </text>
                             </switch>
@@ -219,21 +195,21 @@
                 </g>
                 <g data-cell-id="16">
                     <g>
-                        <rect x="413" y="120" width="72" height="60" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+                        <rect x="228" y="220" width="72" height="60" fill="#ffffff" stroke="#000000" pointer-events="all" style="fill: light-dark(#ffffff, var(--ge-dark-color, #121212)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
                     </g>
                     <g>
                         <g transform="translate(-0.5 -0.5)">
                             <switch>
-                                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
-                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 70px; height: 1px; padding-top: 150px; margin-left: 414px;">
-                                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
-                                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 70px; height: 1px; padding-top: 250px; margin-left: 229px;">
+                                        <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
+                                            <div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
                                                 node
                                             </div>
                                         </div>
                                     </div>
                                 </foreignObject>
-                                <text x="449" y="154" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                                <text x="264" y="254" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
                                     node
                                 </text>
                             </switch>
@@ -242,22 +218,22 @@
                 </g>
                 <g data-cell-id="80">
                     <g>
-                        <path d="M 576 280 L 576 333.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-                        <path d="M 576 338.88 L 572.5 331.88 L 576 333.63 L 579.5 331.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+                        <path d="M 391 380 L 391 433.63" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+                        <path d="M 391 438.88 L 387.5 431.88 L 391 433.63 L 394.5 431.88 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
                     </g>
                     <g>
                         <g transform="translate(-0.5 -0.5)">
                             <switch>
-                                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
-                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 310px; margin-left: 576px;">
-                                        <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
-                                            <div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">
+                                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 410px; margin-left: 391px;">
+                                        <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; background-color: #ffffff; ">
+                                            <div style="display: inline-block; font-size: 11px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; background-color: light-dark(#ffffff, var(--ge-dark-color, #121212)); white-space: nowrap; ">
                                                 write
                                             </div>
                                         </div>
                                     </div>
                                 </foreignObject>
-                                <text x="576" y="313" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">
+                                <text x="391" y="413" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">
                                     write
                                 </text>
                             </switch>
@@ -266,21 +242,21 @@
                 </g>
                 <g data-cell-id="20">
                     <g>
-                        <rect x="536" y="220" width="80" height="60" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+                        <rect x="351" y="320" width="80" height="60" fill="#ffffff" stroke="#000000" pointer-events="all" style="fill: light-dark(#ffffff, var(--ge-dark-color, #121212)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
                     </g>
                     <g>
                         <g transform="translate(-0.5 -0.5)">
                             <switch>
-                                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
-                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 78px; height: 1px; padding-top: 250px; margin-left: 537px;">
-                                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
-                                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 78px; height: 1px; padding-top: 350px; margin-left: 352px;">
+                                        <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
+                                            <div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
                                                 ros2 bag record
                                             </div>
                                         </div>
                                     </div>
                                 </foreignObject>
-                                <text x="576" y="254" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                                <text x="391" y="354" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
                                     ros2 bag reco...
                                 </text>
                             </switch>
@@ -289,23 +265,23 @@
                 </g>
                 <g data-cell-id="23">
                     <g>
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-                        <path d="M 606 355 C 606 363.28 592.57 370 576 370 C 559.43 370 546 363.28 546 355" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+                        <path d="M 361 455 C 361 446.72 374.43 440 391 440 C 398.96 440 406.59 441.58 412.21 444.39 C 417.84 447.21 421 451.02 421 455 L 421 495 C 421 503.28 407.57 510 391 510 C 374.43 510 361 503.28 361 495 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(#ffffff, var(--ge-dark-color, #121212)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+                        <path d="M 421 455 C 421 463.28 407.57 470 391 470 C 374.43 470 361 463.28 361 455" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
                     </g>
                     <g>
                         <g transform="translate(-0.5 -0.5)">
                             <switch>
-                                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
-                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 58px; height: 1px; padding-top: 375px; margin-left: 547px;">
-                                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
-                                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 58px; height: 1px; padding-top: 475px; margin-left: 362px;">
+                                        <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
+                                            <div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
                                                 <br/>
                                                 result_bag
                                             </div>
                                         </div>
                                     </div>
                                 </foreignObject>
-                                <text x="576" y="379" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                                <text x="391" y="479" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
                                     &#xa;result_bag
                                 </text>
                             </switch>
@@ -314,21 +290,21 @@
                 </g>
                 <g data-cell-id="35">
                     <g>
-                        <rect x="353" y="130" width="72" height="60" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+                        <rect x="168" y="230" width="72" height="60" fill="#ffffff" stroke="#000000" pointer-events="all" style="fill: light-dark(#ffffff, var(--ge-dark-color, #121212)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
                     </g>
                     <g>
                         <g transform="translate(-0.5 -0.5)">
                             <switch>
-                                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
-                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 70px; height: 1px; padding-top: 160px; margin-left: 354px;">
-                                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
-                                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 70px; height: 1px; padding-top: 260px; margin-left: 169px;">
+                                        <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
+                                            <div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
                                                 node
                                             </div>
                                         </div>
                                     </div>
                                 </foreignObject>
-                                <text x="389" y="164" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                                <text x="204" y="264" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
                                     node
                                 </text>
                             </switch>
@@ -337,15 +313,15 @@
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                 <g data-cell-id="49">
                     <g>
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+                        <path d="M 10 0 L 110 0 L 110 51 Q 85 34.8 60 51 Q 35 67.2 10 51 L 10 9 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(#ffffff, var(--ge-dark-color, #121212)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
                     </g>
                     <g>
                         <g transform="translate(-0.5 -0.5)">
                             <switch>
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-                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 98px; height: 1px; padding-top: 21px; margin-left: 51px;">
-                                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
-                                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 98px; height: 1px; padding-top: 21px; margin-left: 11px;">
+                                        <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
+                                            <div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
                                                 scenario
                                                 <br/>
                                                 (yaml format)
@@ -353,7 +329,7 @@
                                         </div>
                                     </div>
                                 </foreignObject>
-                                <text x="100" y="25" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                                <text x="60" y="25" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
                                     scenario...
                                 </text>
                             </switch>
@@ -362,21 +338,21 @@
                 </g>
                 <g data-cell-id="66">
                     <g>
-                        <path d="M 678 347.5 L 758 347.5 L 758 394.25 Q 738 379.4 718 394.25 Q 698 409.1 678 394.25 L 678 355.75 Z" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+                        <path d="M 493 447.5 L 573 447.5 L 573 494.25 Q 553 479.4 533 494.25 Q 513 509.1 493 494.25 L 493 455.75 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(#ffffff, var(--ge-dark-color, #121212)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
                     </g>
                     <g>
                         <g transform="translate(-0.5 -0.5)">
                             <switch>
-                                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
-                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 78px; height: 1px; padding-top: 367px; margin-left: 679px;">
-                                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
-                                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 78px; height: 1px; padding-top: 467px; margin-left: 494px;">
+                                        <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
+                                            <div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
                                                 result.jsonl
                                             </div>
                                         </div>
                                     </div>
                                 </foreignObject>
-                                <text x="718" y="370" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                                <text x="533" y="470" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
                                     result.jsonl
                                 </text>
                             </switch>
@@ -385,23 +361,23 @@
                 </g>
                 <g data-cell-id="89">
                     <g>
-                        <path d="M 718 163.5 L 718 341.13" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-                        <path d="M 718 346.38 L 714.5 339.38 L 718 341.13 L 721.5 339.38 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+                        <path d="M 533 263.5 L 533 441.13" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+                        <path d="M 533 446.38 L 529.5 439.38 L 533 441.13 L 536.5 439.38 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
                     </g>
                     <g data-cell-id="90">
                         <g>
                             <g transform="translate(-0.5 -0.5)">
                                 <switch>
-                                    <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
-                                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 231px; margin-left: 717px;">
-                                            <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
-                                                <div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">
+                                    <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 331px; margin-left: 532px;">
+                                            <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; background-color: #ffffff; ">
+                                                <div style="display: inline-block; font-size: 11px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; background-color: light-dark(#ffffff, var(--ge-dark-color, #121212)); white-space: nowrap; ">
                                                     write result
                                                 </div>
                                             </div>
                                         </div>
                                     </foreignObject>
-                                    <text x="717" y="234" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">
+                                    <text x="532" y="334" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">
                                         write result
                                     </text>
                                 </switch>
@@ -411,21 +387,21 @@
                 </g>
                 <g data-cell-id="110">
                     <g>
-                        <path d="M 651 149.25 L 585.64 167.33 Q 576 170 576 180 L 576 213.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-                        <path d="M 576 218.88 L 572.5 211.88 L 576 213.63 L 579.5 211.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+                        <path d="M 466 249.25 L 400.64 267.33 Q 391 270 391 280 L 391 313.63" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+                        <path d="M 391 318.88 L 387.5 311.88 L 391 313.63 L 394.5 311.88 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
                     </g>
                 </g>
                 <g data-cell-id="75">
                     <g>
-                        <rect x="651" y="106.5" width="134" height="57" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+                        <rect x="466" y="206.5" width="134" height="57" fill="#ffffff" stroke="#000000" pointer-events="all" style="fill: light-dark(#ffffff, var(--ge-dark-color, #121212)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
                     </g>
                     <g>
                         <g transform="translate(-0.5 -0.5)">
                             <switch>
-                                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
-                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 132px; height: 1px; padding-top: 135px; margin-left: 652px;">
-                                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
-                                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 132px; height: 1px; padding-top: 235px; margin-left: 467px;">
+                                        <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
+                                            <div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
                                                 driving_log_replayer_v2
                                                 <br/>
                                                 evaluator node
@@ -433,7 +409,7 @@
                                         </div>
                                     </div>
                                 </foreignObject>
-                                <text x="718" y="139" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                                <text x="533" y="239" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
                                     driving_log_replayer_v...
                                 </text>
                             </switch>
@@ -442,29 +418,29 @@
                 </g>
                 <g data-cell-id="105">
                     <g>
-                        <path d="M 385 330 L 385 286.37" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-                        <path d="M 385 281.12 L 388.5 288.12 L 385 286.37 L 381.5 288.12 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+                        <path d="M 290 437.5 L 290 386.37" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+                        <path d="M 290 381.12 L 293.5 388.12 L 290 386.37 L 286.5 388.12 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
                     </g>
                 </g>
                 <g data-cell-id="39">
                     <g>
-                        <path d="M 355 345 C 355 336.72 368.43 330 385 330 C 392.96 330 400.59 331.58 406.21 334.39 C 411.84 337.21 415 341.02 415 345 L 415 387.5 C 415 395.78 401.57 402.5 385 402.5 C 368.43 402.5 355 395.78 355 387.5 Z" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
-                        <path d="M 415 345 C 415 353.28 401.57 360 385 360 C 368.43 360 355 353.28 355 345" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+                        <path d="M 260 452.5 C 260 444.22 273.43 437.5 290 437.5 C 297.96 437.5 305.59 439.08 311.21 441.89 C 316.84 444.71 320 448.52 320 452.5 L 320 495 C 320 503.28 306.57 510 290 510 C 273.43 510 260 503.28 260 495 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(#ffffff, var(--ge-dark-color, #121212)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+                        <path d="M 320 452.5 C 320 460.78 306.57 467.5 290 467.5 C 273.43 467.5 260 460.78 260 452.5" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
                     </g>
                     <g>
                         <g transform="translate(-0.5 -0.5)">
                             <switch>
-                                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
-                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 58px; height: 1px; padding-top: 366px; margin-left: 356px;">
-                                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
-                                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 58px; height: 1px; padding-top: 474px; margin-left: 261px;">
+                                        <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
+                                            <div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
                                                 <br/>
                                                 input_bag
                                             </div>
                                         </div>
                                     </div>
                                 </foreignObject>
-                                <text x="385" y="370" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                                <text x="290" y="477" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
                                     &#xa;input_bag
                                 </text>
                             </switch>
@@ -473,17 +449,17 @@
                 </g>
                 <g data-cell-id="112">
                     <g>
-                        <path d="M 200 170 L 300.1 168.21" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-                        <path d="M 305.35 168.12 L 298.42 171.74 L 300.1 168.21 L 298.29 164.75 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+                        <path d="M 305 60 L 305 143.63" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+                        <path d="M 305 148.88 L 301.5 141.88 L 305 143.63 L 308.5 141.88 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
                     </g>
                     <g data-cell-id="113">
                         <g>
                             <g transform="translate(-0.5 -0.5)">
                                 <switch>
-                                    <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
-                                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 167px; margin-left: 260px;">
-                                            <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
-                                                <div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">
+                                    <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 95px; margin-left: 307px;">
+                                            <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; background-color: #ffffff; ">
+                                                <div style="display: inline-block; font-size: 11px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; background-color: light-dark(#ffffff, var(--ge-dark-color, #121212)); white-space: nowrap; ">
                                                     set parameter
                                                     <br/>
                                                     and
@@ -493,7 +469,7 @@
                                             </div>
                                         </div>
                                     </foreignObject>
-                                    <text x="260" y="171" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">
+                                    <text x="307" y="98" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">
                                         set parameter...
                                     </text>
                                 </switch>
@@ -501,6 +477,132 @@
                         </g>
                     </g>
                 </g>
+                <g data-cell-id="114">
+                    <g>
+                        <path d="M 290 320 L 290.08 306.37" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+                        <path d="M 290.11 301.12 L 293.57 308.14 L 290.08 306.37 L 286.57 308.1 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+                    </g>
+                    <g>
+                        <g transform="translate(-0.5 -0.5)">
+                            <switch>
+                                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 310px; margin-left: 290px;">
+                                        <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; background-color: #ffffff; ">
+                                            <div style="display: inline-block; font-size: 11px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; background-color: light-dark(#ffffff, var(--ge-dark-color, #121212)); white-space: nowrap; ">
+                                                play
+                                            </div>
+                                        </div>
+                                    </div>
+                                </foreignObject>
+                                <text x="290" y="313" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">
+                                    play
+                                </text>
+                            </switch>
+                        </g>
+                    </g>
+                </g>
+                <g data-cell-id="120">
+                    <g>
+                        <path d="M 70 320 L 125.24 294.06" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+                        <path d="M 129.99 291.83 L 125.14 297.97 L 125.24 294.06 L 122.16 291.64 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+                    </g>
+                    <g data-cell-id="123">
+                        <g>
+                            <g transform="translate(-0.5 -0.5)">
+                                <switch>
+                                    <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 308px; margin-left: 91px;">
+                                            <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; background-color: #ffffff; ">
+                                                <div style="display: inline-block; font-size: 11px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; background-color: light-dark(#ffffff, var(--ge-dark-color, #121212)); white-space: nowrap; ">
+                                                    pub initial pose
+                                                </div>
+                                            </div>
+                                        </div>
+                                    </foreignObject>
+                                    <text x="91" y="312" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">
+                                        pub initial pose
+                                    </text>
+                                </switch>
+                            </g>
+                        </g>
+                    </g>
+                </g>
+                <g data-cell-id="117">
+                    <g>
+                        <rect x="20" y="320" width="100" height="60" fill="#ffffff" stroke="#000000" pointer-events="all" style="fill: light-dark(#ffffff, var(--ge-dark-color, #121212)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+                    </g>
+                    <g>
+                        <g transform="translate(-0.5 -0.5)">
+                            <switch>
+                                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 98px; height: 1px; padding-top: 350px; margin-left: 21px;">
+                                        <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
+                                            <div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
+                                                initial_pose_node
+                                                <div>
+                                                    (optional)
+                                                </div>
+                                            </div>
+                                        </div>
+                                    </div>
+                                </foreignObject>
+                                <text x="70" y="354" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                                    initial_pose_nod...
+                                </text>
+                            </switch>
+                        </g>
+                    </g>
+                </g>
+                <g data-cell-id="124">
+                    <g>
+                        <path d="M 190 320 L 190.68 306.36" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+                        <path d="M 190.94 301.12 L 194.09 308.28 L 190.68 306.36 L 187.1 307.93 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+                    </g>
+                    <g>
+                        <g transform="translate(-0.5 -0.5)">
+                            <switch>
+                                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 310px; margin-left: 190px;">
+                                        <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; background-color: #ffffff; ">
+                                            <div style="display: inline-block; font-size: 11px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; background-color: light-dark(#ffffff, var(--ge-dark-color, #121212)); white-space: nowrap; ">
+                                                pub goal pose
+                                            </div>
+                                        </div>
+                                    </div>
+                                </foreignObject>
+                                <text x="190" y="313" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="11px" text-anchor="middle">
+                                    pub goal pose
+                                </text>
+                            </switch>
+                        </g>
+                    </g>
+                </g>
+                <g data-cell-id="118">
+                    <g>
+                        <rect x="140" y="320" width="100" height="60" fill="#ffffff" stroke="#000000" pointer-events="all" style="fill: light-dark(#ffffff, var(--ge-dark-color, #121212)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+                    </g>
+                    <g>
+                        <g transform="translate(-0.5 -0.5)">
+                            <switch>
+                                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 98px; height: 1px; padding-top: 350px; margin-left: 141px;">
+                                        <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
+                                            <div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
+                                                goal_pose_node
+                                                <div>
+                                                    (optional)
+                                                </div>
+                                            </div>
+                                        </div>
+                                    </div>
+                                </foreignObject>
+                                <text x="190" y="354" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                                    goal_pose_node...
+                                </text>
+                            </switch>
+                        </g>
+                    </g>
+                </g>
             </g>
         </g>
     </g>