style(pre-commit): autofix

autowarefoundation · Mar 6, 2025 · ac43cce · ac43cce
1 parent ee881ab
commit ac43cce
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diff --git a/planning/autoware_obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml
@@ -19,6 +19,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_internal_debug_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
   <depend>autoware_interpolation</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_motion_utils</depend>
@@ -41,7 +42,6 @@
   <depend>tf2_ros</depend>
   <depend>tier4_metric_msgs</depend>
   <depend>tier4_planning_msgs</depend>
-  <depend>autoware_internal_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>

diff --git a/planning/autoware_obstacle_stop_planner/package.xml b/planning/autoware_obstacle_stop_planner/package.xml
@@ -22,6 +22,7 @@
 
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_internal_debug_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_factor_interface</depend>
@@ -43,7 +44,6 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_planning_msgs</depend>
-  <depend>autoware_internal_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>

diff --git a/planning/autoware_obstacle_stop_planner/src/debug_marker.cpp b/planning/autoware_obstacle_stop_planner/src/debug_marker.cpp
@@ -194,8 +194,9 @@ void ObstacleStopPlannerDebugNode::publish()
   if (stop_pose_ptr_) {
     planning_factor_interface_->add(
       std::numeric_limits<float>::quiet_NaN(), *stop_pose_ptr_,
-      autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{},
-      true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "");
+      autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
+      autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
+      0.0 /*shift distance*/, "");
   }
   planning_factor_interface_->publish();
 

diff --git a/...factor_interface/include/autoware/planning_factor_interface/planning_factor_interface.hpp b/...factor_interface/include/autoware/planning_factor_interface/planning_factor_interface.hpp
@@ -18,26 +18,26 @@
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_internal_planning_msgs/msg/path_point_with_lane_id.hpp>
-#include <autoware_planning_msgs/msg/path_point.hpp>
-#include <autoware_planning_msgs/msg/trajectory_point.hpp>
-#include <geometry_msgs/msg/pose.hpp>
 #include <autoware_internal_planning_msgs/msg/control_point.hpp>
+#include <autoware_internal_planning_msgs/msg/path_point_with_lane_id.hpp>
 #include <autoware_internal_planning_msgs/msg/planning_factor.hpp>
 #include <autoware_internal_planning_msgs/msg/planning_factor_array.hpp>
 #include <autoware_internal_planning_msgs/msg/safety_factor_array.hpp>
+#include <autoware_planning_msgs/msg/path_point.hpp>
+#include <autoware_planning_msgs/msg/trajectory_point.hpp>
+#include <geometry_msgs/msg/pose.hpp>
 
 #include <string>
 #include <vector>
 
 namespace autoware::planning_factor_interface
 {
 
-using geometry_msgs::msg::Pose;
 using autoware_internal_planning_msgs::msg::ControlPoint;
 using autoware_internal_planning_msgs::msg::PlanningFactor;
 using autoware_internal_planning_msgs::msg::PlanningFactorArray;
 using autoware_internal_planning_msgs::msg::SafetyFactorArray;
+using geometry_msgs::msg::Pose;
 
 class PlanningFactorInterface
 {

diff --git a/planning/autoware_planning_factor_interface/package.xml b/planning/autoware_planning_factor_interface/package.xml
@@ -13,11 +13,11 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_internal_planning_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_utils</depend>
   <depend>rclcpp</depend>
-  <depend>autoware_internal_planning_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

diff --git a/planning/autoware_surround_obstacle_checker/package.xml b/planning/autoware_surround_obstacle_checker/package.xml
@@ -14,6 +14,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_internal_planning_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_factor_interface</depend>
@@ -35,7 +36,6 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_planning_msgs</depend>
-  <depend>autoware_internal_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>

diff --git a/planning/autoware_surround_obstacle_checker/src/debug_marker.hpp b/planning/autoware_surround_obstacle_checker/src/debug_marker.hpp
@@ -19,9 +19,9 @@
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_planning_msgs/msg/planning_factor_array.hpp>
 #include <geometry_msgs/msg/polygon_stamped.hpp>
 #include <geometry_msgs/msg/pose.hpp>
-#include <autoware_internal_planning_msgs/msg/planning_factor_array.hpp>
 #include <visualization_msgs/msg/marker.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
@@ -34,10 +34,10 @@ namespace autoware::surround_obstacle_checker
 {
 
 using autoware::vehicle_info_utils::VehicleInfo;
-using geometry_msgs::msg::PolygonStamped;
 using autoware_internal_planning_msgs::msg::ControlPoint;
 using autoware_internal_planning_msgs::msg::PlanningFactor;
 using autoware_internal_planning_msgs::msg::PlanningFactorArray;
+using geometry_msgs::msg::PolygonStamped;
 using visualization_msgs::msg::Marker;
 using visualization_msgs::msg::MarkerArray;
 

diff --git a/...common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp b/...common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp
@@ -57,11 +57,11 @@ using autoware::objects_of_interest_marker_interface::ObjectsOfInterestMarkerInt
 using autoware::planning_factor_interface::PlanningFactorInterface;
 using autoware::rtc_interface::RTCInterface;
 using autoware_internal_planning_msgs::msg::PathWithLaneId;
+using autoware_internal_planning_msgs::msg::PlanningFactor;
+using autoware_internal_planning_msgs::msg::SafetyFactorArray;
 using autoware_utils::calc_offset_pose;
 using autoware_utils::generate_uuid;
 using tier4_planning_msgs::msg::AvoidanceDebugMsgArray;
-using autoware_internal_planning_msgs::msg::PlanningFactor;
-using autoware_internal_planning_msgs::msg::SafetyFactorArray;
 using tier4_rtc_msgs::msg::State;
 using unique_identifier_msgs::msg::UUID;
 using visualization_msgs::msg::MarkerArray;

diff --git a/.../include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp b/.../include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp
@@ -22,11 +22,11 @@
 #include <autoware_utils/geometry/geometry.hpp>
 #include <autoware_utils/geometry/pose_deviation.hpp>
 
+#include <autoware_internal_planning_msgs/msg/planning_factor_array.hpp>
 #include <autoware_perception_msgs/msg/predicted_object.hpp>
 #include <autoware_perception_msgs/msg/predicted_path.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/twist.hpp>
-#include <autoware_internal_planning_msgs/msg/planning_factor_array.hpp>
 
 #include <cmath>
 #include <string>

diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml
@@ -45,6 +45,7 @@
 
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_freespace_planning_algorithms</depend>
+  <depend>autoware_internal_planning_msgs</depend>
   <depend>autoware_interpolation</depend>
   <depend>autoware_lane_departure_checker</depend>
   <depend>autoware_lanelet2_extension</depend>
@@ -64,7 +65,6 @@
   <depend>rclcpp</depend>
   <depend>tf2</depend>
   <depend>tier4_planning_msgs</depend>
-  <depend>autoware_internal_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>

diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml
@@ -20,6 +20,7 @@
   <depend>autoware_behavior_velocity_planner</depend>
   <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_behavior_velocity_rtc_interface</depend>
+  <depend>autoware_internal_planning_msgs</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>
@@ -32,7 +33,6 @@
   <depend>rclcpp</depend>
   <depend>tf2</depend>
   <depend>tier4_planning_msgs</depend>
-  <depend>autoware_internal_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>

diff --git a/.../behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp b/.../behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp
@@ -103,9 +103,9 @@ void BlindSpotModule::reactRTCApprovalByDecision(
     const auto stop_pose = path->points.at(decision.stop_line_idx).point.pose;
     planning_factor_interface_->add(
       path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose,
-      autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{},
-      true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/,
-      "blind_spot(module is judging as UNSAFE)");
+      autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
+      autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
+      0.0 /*shift distance*/, "blind_spot(module is judging as UNSAFE)");
   }
   return;
 }
@@ -137,9 +137,9 @@ void BlindSpotModule::reactRTCApprovalByDecision(
     const auto stop_pose = path->points.at(decision.stop_line_idx).point.pose;
     planning_factor_interface_->add(
       path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose,
-      autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{},
-      true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/,
-      "blind_spot(module is judging as SAFE and RTC is not approved)");
+      autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
+      autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
+      0.0 /*shift distance*/, "blind_spot(module is judging as SAFE and RTC is not approved)");
   }
   return;
 }

diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml
@@ -26,6 +26,7 @@
   <depend>autoware_behavior_velocity_rtc_interface</depend>
   <depend>autoware_grid_map_utils</depend>
   <depend>autoware_internal_debug_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
   <depend>autoware_interpolation</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_motion_utils</depend>
@@ -45,7 +46,6 @@
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
   <depend>visualization_msgs</depend>
-  <depend>autoware_internal_planning_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

diff --git a/...vior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/...vior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
@@ -1366,8 +1366,8 @@ void CrosswalkModule::planStop(
   planning_factor_interface_->add(
     ego_path.points, planner_data_->current_odometry->pose, stop_factor->stop_pose,
     stop_factor->stop_pose, autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
-    autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0 /*velocity*/,
-    0.0 /*shift distance*/, "crosswalk_stop");
+    autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/,
+    0.0 /*velocity*/, 0.0 /*shift distance*/, "crosswalk_stop");
 }
 
 bool CrosswalkModule::checkRestartSuppression(

diff --git a/.../behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp b/.../behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp
@@ -182,8 +182,9 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path)
   {
     planning_factor_interface_->add(
       path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose,
-      autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{},
-      true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "");
+      autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
+      autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
+      0.0 /*shift distance*/, "");
   }
 
   return true;

diff --git a/...ning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml b/...ning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml
@@ -23,6 +23,7 @@
   <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_behavior_velocity_rtc_interface</depend>
   <depend>autoware_internal_debug_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
   <depend>autoware_interpolation</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_motion_utils</depend>
@@ -41,7 +42,6 @@
   <depend>rclcpp</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tier4_planning_msgs</depend>
-  <depend>autoware_internal_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>

diff --git a/...nner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp b/...nner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp
@@ -158,8 +158,9 @@ bool MergeFromPrivateRoadModule::modifyPathVelocity(PathWithLaneId * path)
     const auto & stop_pose = path->points.at(stopline_idx).point.pose;
     planning_factor_interface_->add(
       path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose,
-      autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{},
-      true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "merge_from_private");
+      autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
+      autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
+      0.0 /*shift distance*/, "merge_from_private");
 
     const double signed_arc_dist_to_stop_point = autoware::motion_utils::calcSignedArcLength(
       path->points, current_pose.position, path->points.at(stopline_idx).point.pose.position);

diff --git a/...ehavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp b/...ehavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp
@@ -168,8 +168,9 @@ void NoDrivableLaneModule::handle_approaching_state(PathWithLaneId * path)
     const auto & stop_pose = op_stop_pose.value();
     planning_factor_interface_->add(
       path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose,
-      autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{},
-      true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "");
+      autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
+      autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
+      0.0 /*shift distance*/, "");
 
     const auto virtual_wall_pose = autoware::motion_utils::calcLongitudinalOffsetPose(
       path->points, stop_pose.position, debug_data_.base_link2front);
@@ -218,8 +219,9 @@ void NoDrivableLaneModule::handle_inside_no_drivable_lane_state(PathWithLaneId *
     const auto & stop_pose = autoware_utils::get_pose(path->points.at(0));
     planning_factor_interface_->add(
       path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose,
-      autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{},
-      true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "");
+      autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
+      autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
+      0.0 /*shift distance*/, "");
 
     const auto & virtual_wall_pose = autoware::motion_utils::calcLongitudinalOffsetPose(
       path->points, stop_pose.position, debug_data_.base_link2front);
@@ -258,8 +260,9 @@ void NoDrivableLaneModule::handle_stopped_state(PathWithLaneId * path)
     const auto & stop_pose = ego_pos_on_path.pose;
     planning_factor_interface_->add(
       path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose,
-      autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{},
-      true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "");
+      autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
+      autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
+      0.0 /*shift distance*/, "");
 
     const auto virtual_wall_pose = autoware::motion_utils::calcLongitudinalOffsetPose(
       path->points, stop_pose.position, debug_data_.base_link2front);

diff --git a/.../behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml b/.../behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml
@@ -20,6 +20,7 @@
   <depend>autoware_behavior_velocity_planner</depend>
   <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_behavior_velocity_rtc_interface</depend>
+  <depend>autoware_internal_planning_msgs</depend>
   <depend>autoware_interpolation</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_motion_utils</depend>
@@ -32,7 +33,6 @@
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>tier4_planning_msgs</depend>
-  <depend>autoware_internal_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>

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
@@ -769,8 +769,9 @@ bool RunOutModule::insertStopPoint(
 
   planning_factor_interface_->add(
     path.points, planner_data_->current_odometry->pose, stop_point.value(), stop_point.value(),
-    autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{},
-    true /*is_driving_forward*/, 0.0 /*velocity*/, 0.0 /*shift_distance*/, "run_out_stop");
+    autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
+    autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/,
+    0.0 /*velocity*/, 0.0 /*shift_distance*/, "run_out_stop");
 
   return true;
 }
@@ -884,8 +885,8 @@ void RunOutModule::insertApproachingVelocity(
   planning_factor_interface_->add(
     output_path.points, planner_data_->current_odometry->pose, stop_point.value(),
     stop_point.value(), autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
-    autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0 /*velocity*/,
-    0.0 /*shift_distance*/, "run_out_approaching_velocity");
+    autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/,
+    0.0 /*velocity*/, 0.0 /*shift_distance*/, "run_out_approaching_velocity");
 
   // debug
   debug_ptr_->pushStopPose(autoware_utils::calc_offset_pose(

diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp
@@ -68,8 +68,9 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path)
   planning_factor_interface_->add(
     path->points, trajectory->compute(*stop_point).point.pose,
     planner_data_->current_odometry->pose, planner_data_->current_odometry->pose,
-    autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{},
-    true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "stopline");
+    autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
+    autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
+    0.0 /*shift distance*/, "stopline");
 
   updateStateAndStoppedTime(
     &state_, &stopped_time_, clock_->now(), *stop_point - ego_s, planner_data_->isVehicleStopped());

diff --git a/...ing/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml b/...ing/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml
@@ -22,6 +22,7 @@
   <depend>autoware_behavior_velocity_planner</depend>
   <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_behavior_velocity_rtc_interface</depend>
+  <depend>autoware_internal_planning_msgs</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>
@@ -37,7 +38,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tier4_planning_msgs</depend>
-  <depend>autoware_internal_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>

diff --git a/...g/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp b/...g/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp
@@ -297,8 +297,9 @@ autoware_internal_planning_msgs::msg::PathWithLaneId TrafficLightModule::insertS
   planning_factor_interface_->add(
     modified_path.points, planner_data_->current_odometry->pose,
     target_point_with_lane_id.point.pose, target_point_with_lane_id.point.pose,
-    autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{},
-    true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "");
+    autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
+    autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
+    0.0 /*shift distance*/, "");
 
   return modified_path;
 }