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feat(autoware_motion_velocity_planner): point-cloud clustering optimization #1432

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Description

Bring point-cloud clustering optimization changes for launch to x1

How was this PR tested?

Notes for reviewers

None.

Effects on system behavior

None.

tier4-autoware-public-bot bot and others added 30 commits August 21, 2024 09:53
@tier4-autoware-public-bot
Merge pull request #556 from tier4/sync-awf-latest
8b515a0 
chore: sync awf-latest
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Merge pull request #557 from tier4/sync-awf-latest
21bb2d1 
chore: sync awf-latest
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Merge pull request #558 from tier4/sync-awf-latest
082b1b4 
chore: sync awf-latest
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Merge pull request #560 from tier4/sync-awf-latest
6a09503 
chore: sync awf-latest
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Merge pull request #561 from tier4/sync-awf-latest
cac03b0 
chore: sync awf-latest
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Merge pull request #562 from tier4/sync-awf-latest
e72aa7d 
chore: sync awf-latest
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Merge pull request #563 from tier4/sync-awf-latest
e5ec414 
chore: sync awf-latest
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Merge pull request #564 from tier4/sync-awf-latest
a0544ff 
chore: sync awf-latest
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Merge pull request #565 from tier4/sync-awf-latest
d6441e9 
chore: sync awf-latest
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Merge pull request #566 from tier4/sync-awf-latest
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chore: sync awf-latest
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Merge pull request #567 from tier4/sync-awf-latest
d7bb23e 
chore: sync awf-latest
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Merge pull request #570 from tier4/sync-awf-latest
2937b32 
chore: sync awf-latest
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Merge pull request #571 from tier4/sync-awf-latest
6510258 
chore: sync awf-latest
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Merge pull request #572 from tier4/sync-awf-latest
a37e57c 
chore: sync awf-latest
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Merge pull request #573 from tier4/sync-awf-latest
07a1447 
chore: sync awf-latest
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Merge pull request #574 from tier4/sync-awf-latest
56142da 
chore: sync awf-latest
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Merge pull request #575 from tier4/sync-awf-latest
27d96f0 
chore: sync awf-latest
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Merge pull request #576 from tier4/sync-awf-latest
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chore: sync awf-latest
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Merge pull request #578 from tier4/sync-awf-latest
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Merge pull request #580 from tier4/sync-awf-latest
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chore: sync awf-latest
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Merge pull request #581 from tier4/sync-awf-latest
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Merge pull request #582 from tier4/sync-awf-latest
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Merge pull request #583 from tier4/sync-awf-latest
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Merge pull request #584 from tier4/sync-awf-latest
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Merge pull request #585 from tier4/sync-awf-latest
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Merge pull request #587 from tier4/sync-awf-latest
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Merge pull request #588 from tier4/sync-awf-latest
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Merge pull request #589 from tier4/sync-awf-latest
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Merge pull request #592 from tier4/sync-awf-latest
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Merge pull request #594 from tier4/sync-awf-latest
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chore: sync awf-latest
tier4-autoware-public-bot bot and others added 10 commits April 14, 2025 06:55
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Merge pull request #830 from tier4/sync-awf-latest
8e5fc2e 
chore: sync awf-latest
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Merge pull request #831 from tier4/sync-awf-latest
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Merge pull request #832 from tier4/sync-awf-latest
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chore: sync awf-latest
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Merge pull request #833 from tier4/sync-awf-latest
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Merge pull request #834 from tier4/sync-awf-latest
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chore: sync awf-latest
@yuki-takagi-66
feat(tier4_diagnostics): replace overrun estimation diag (#836)
17cb44a 
Signed-off-by: yuki-takagi-66 <[email protected]>
@tier4-autoware-public-bot
Merge pull request #839 from tier4/sync-awf-latest
42a7ea0 
chore: sync awf-latest
@TaikiYamada4 @shmpwk
@tier4-autoware-public-bot @tkimura4 @kyoichi-sugahara @takayuki5168 @kminoda @pre-commit-ci @satoshi-ota @maxime-clem @soblin @h-ohta @tzhong518 @miursh @TakaHoribe @danielsanchezaran @saka1-s @rej55 @kosuke55 @TetsuKawa @veqcc @MasatoSaeki @hayato-m126 @iwatake2222 @ito-san @xtk8532704 @yhisaki @SakodaShintaro @sasakisasaki @PanConChicharron
chore: merge tier4/main to beta/v0.44 (#840)
3821c20 
* ci(sync-awf-upstream): change awf sync time (#56)

ci: change awf sync time

* chore: sync files (#122)

Signed-off-by: GitHub <[email protected]>
Co-authored-by: shmpwk <[email protected]>

* ci(dispatch-release-note): trigger by action_repository name (#150)

feat(dispatch-release-note): trigger by action_repository name

* chore: sync files (#181)

Signed-off-by: GitHub <[email protected]>
Co-authored-by: shmpwk <[email protected]>

* chore: sync files (#200)

Signed-off-by: GitHub <[email protected]>
Co-authored-by: shmpwk <[email protected]>

* chore: sync files (#202)

Signed-off-by: GitHub <[email protected]>
Co-authored-by: shmpwk <[email protected]>

* chore: update sync upstream script (#236)

Signed-off-by: tomoya.kimura <[email protected]>

* chore: add workflow to merge beta branch to tier4 main (#239)

* chore: add workflow to merge beta branch to tier4 main

Signed-off-by: tomoya.kimura <[email protected]>

* fix: fix workflow name

Signed-off-by: tomoya.kimura <[email protected]>

* fix: fix job name and pr-label

Signed-off-by: tomoya.kimura <[email protected]>

* fix: fix variable name

Signed-off-by: tomoya.kimura <[email protected]>

---------

Signed-off-by: tomoya.kimura <[email protected]>

* chore: sync files (#251)

Signed-off-by: GitHub <[email protected]>
Co-authored-by: github-actions <[email protected]>

* chore: sync files (#255)

Signed-off-by: GitHub <[email protected]>
Co-authored-by: github-actions <[email protected]>

* feat(start_planner): add surround moving obstacle check (#723)

update start_planner.param.yaml

Signed-off-by: kyoichi-sugahara <[email protected]>

* feat: add github workflow of create-awf-latest.yml

Signed-off-by: Takayuki Murooka <[email protected]>

* fix(pointpainting): update parameter structure (#778)

* fix(pointpainting): update parameter structure

Signed-off-by: kminoda <[email protected]>

* update roi_sync.param.yaml

Signed-off-by: kminoda <[email protected]>

* style(pre-commit): autofix

---------

Signed-off-by: kminoda <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* fix(rviz): hide traffic light regulatory element id (#777)

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* feat(behavior_velocity_planner): add new 'dynamic_obstacle_stop' module (#267)

feat(behavior_velocity_planner): add new 'dynamic_obstacle_stop' module (#730)

Signed-off-by: Maxime CLEMENT <[email protected]>

* feat(start_planner): keep distance against front objects (#766)

Add collision check margin from front object

Signed-off-by: kyoichi-sugahara <[email protected]>

* feat(start_planner): define collision check margin as list (#770)

* Update collision check margins in start planner configuration

Signed-off-by: kyoichi-sugahara <[email protected]>

---------

Signed-off-by: kyoichi-sugahara <[email protected]>

* fix(intersection): fix bugs (#781)

Signed-off-by: Mamoru Sobue <[email protected]>

* feat(multi_object_tracker): fix typo in param name and change default value (#271)

feat(multi_object_tracker): fix typo in param name and change default value (#785)

* fix(multi_object_tracker): fix typo in param name



* feat: update default param



---------

Signed-off-by: kminoda <[email protected]>

* feat: add sync-awf-latest.yaml (#272)

Signed-off-by: Takayuki Murooka <[email protected]>

* chore: disable auto-merge of sync-awf-latest (#274)

Signed-off-by: Takayuki Murooka <[email protected]>

* feat(start_planner): shorten max backward distance  (#734)

Update start_planner.param.yaml

* feat: enable auto-merge in sync-awf-latest.yaml

Signed-off-by: Takayuki Murooka <[email protected]>

* chore: sync files (#291)

Signed-off-by: GitHub <[email protected]>
Co-authored-by: github-actions <[email protected]>

* chore: sync files (#299)

Signed-off-by: GitHub <[email protected]>
Co-authored-by: github-actions <[email protected]>

* feat: use tier4/awf-latest for upstream sync

Signed-off-by: Takayuki Murooka <[email protected]>

* chore: sync files (#315)

Signed-off-by: GitHub <[email protected]>
Co-authored-by: github-actions <[email protected]>

* chore: remove unnecessary workflows

Signed-off-by: Takayuki Murooka <[email protected]>

* fix

Signed-off-by: Takayuki Murooka <[email protected]>

* chore: update CODEOWNERS (#340)

Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
Co-authored-by: github-actions <[email protected]>

* feat(ci): add sync-tier4-upstream-up-to-tag (#347)

* feat(ci): add sync-tier4-upstream-up-to-tag

* style(pre-commit): autofix

* delete quote

---------

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* feat: run sync-awf-latest every one hour (#365)

Signed-off-by: Takayuki Murooka <[email protected]>

* fix: cherry-pick necessary changes from tier4/main (#368)

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* chore: sync files (#379)

Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
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* fix: add has_variance to pointpainting.param.yaml

Signed-off-by: tzhong518 <[email protected]>

* chore: sync files (#391)

Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
Co-authored-by: github-actions <[email protected]>

* ci: add comment-on-pr.yaml (#400)

* chore: sync files (#427)

Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
Co-authored-by: github-actions <[email protected]>

* chore: sync files (#440)

Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
Co-authored-by: github-actions <[email protected]>

* Merge pull request #453 from tier4/feat/disable-aeb-diagnostics-check

feat(aeb): disable aeb diagnostics check

* feat(diagnostic_graph_utils): launch logging node for diagnostic_graph

Signed-off-by: Takamasa Horibe <[email protected]>

* ci: add sync-beta-upstream (#459)

* ci: add sync-beta-upstream

Signed-off-by: Shumpei Wakabayashi <[email protected]>

* style(pre-commit): autofix

---------

Signed-off-by: Shumpei Wakabayashi <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* ci: add sync-beta-upstream (#459)

* ci: add sync-beta-upstream

Signed-off-by: Shumpei Wakabayashi <[email protected]>

* style(pre-commit): autofix

---------

Signed-off-by: Shumpei Wakabayashi <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* feat(behavior_path_planner): add yaw threshold param (autowarefoundation#1040)

add yaw threshold param

Signed-off-by: Daniel Sanchez <[email protected]>

* Revert "fix(api): disable rosbridge to fix duplicated node (#497)"

This reverts commit 1b04604.

* refactor(behavior_path_planner): remove unnecessary parameters (autowarefoundation#1172)

Signed-off-by: Takayuki Murooka <[email protected]>

* refactor(system_monitor/ntp_monitor): add-missing-parameters (autowarefoundation#1174)

refactor: add-missing-parameters

Signed-off-by: TetsuKawa <[email protected]>

* refactor(system_monitor/net_monitor): remove-missing-patameters (autowarefoundation#1175)

refactor: remove-missing-patameters

Signed-off-by: TetsuKawa <[email protected]>

* feat(emergency_handler): delete package (autowarefoundation#1173)

* feat(emergency_handler): delete package

Signed-off-by: veqcc <[email protected]>

* feat(tier4_perception_launch): enable to use multi camera on traffic light recognition (autowarefoundation#1144)

change the way to declare camera num

Signed-off-by: MasatoSaeki <[email protected]>

* fix(perception): adopt awsim (tlr) camera topic (autowarefoundation#1177)

Signed-off-by: MasatoSaeki <[email protected]>

* feat(system_error_monitor): delete system error monitor (autowarefoundation#1178)

feat: delete system error monitor

Signed-off-by: TetsuKawa <[email protected]>

* feat(system_monitor): disable traffic monitor

Signed-off-by: takeshi.iwanari <[email protected]>

* fix

Signed-off-by: Fumiya Watanabe <[email protected]>

* Merge pull request #734 from tier4/feat/traffic_light-v2i

feat(traffic_light_module): add v2i to behavior_velocity_traffic_light

* feat(rviz): update autoware.rviz for motion_velocity_obstacle_<stop/slow_down/cruise>_module (autowarefoundation#1314)

* feat: add motion_velocity_obstacle_stop/slow_down/cruise_module

Signed-off-by: Takayuki Murooka <[email protected]>

* update autoware.rviz

Signed-off-by: Takayuki Murooka <[email protected]>

* update rviz

Signed-off-by: Takayuki Murooka <[email protected]>

* disable obstacle_cruise_planner

Signed-off-by: Takayuki Murooka <[email protected]>

* update motion velocity planner params

Signed-off-by: Takayuki Murooka <[email protected]>

* add module.param.yaml

Signed-off-by: Takayuki Murooka <[email protected]>

* enable obstacle_cruise_planner

Signed-off-by: Takayuki Murooka <[email protected]>

---------

Signed-off-by: Takayuki Murooka <[email protected]>

* feat: use motion_velocity_obstacle_<stop/slow_down/cruise>_module (autowarefoundation#1315)

Revert "enable obstacle_cruise_planner"

This reverts commit cbd6873.

* Added pr-label "run:build-and-test-differential"

Signed-off-by: Shintaro Sakoda <[email protected]>

* feat(behavior_planning): add behavior_path_planner_type to launch path_generator (autowarefoundation#1342)

Signed-off-by: kosuke55 <[email protected]>

* feat(path_generator): add parameters (autowarefoundation#1343)

* feat(path_generator): add parameters (see below)

  * This fix is for the following PR:
      autowarefoundation/autoware_core#227

Signed-off-by: Junya Sasaki <[email protected]>

* Update autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/path_generator/path_generator.param.yaml

Signed-off-by: Junya Sasaki <[email protected]>

Co-authored-by: Kosuke Takeuchi <[email protected]>

---------

Signed-off-by: Junya Sasaki <[email protected]>
Co-authored-by: Kosuke Takeuchi <[email protected]>

* fix(planning): param update for sudden stop (autowarefoundation#1345)

fix for x1

Signed-off-by: Arjun Jagdish Ram <[email protected]>

* fix(sync-files): remove backport.yaml from source

Signed-off-by: Fumiya Watanabe <[email protected]>

* chore: sync files (#448)

Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
Co-authored-by: github-actions <[email protected]>

* chore: v0.43 merge tier4/main (#796)

* ci: cron weekdays except holidays (#51)

* ci: cron week days

* style(pre-commit): autofix

---------

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* ci(sync-awf-upstream): fix failing CI (#53)

ci: fix unexpected symbol: '='

* ci(sync-awf-upstream): change awf sync time (#56)

ci: change awf sync time

* chore: sync files (#122)

Signed-off-by: GitHub <[email protected]>
Co-authored-by: shmpwk <[email protected]>

* ci(dispatch-release-note): trigger by action_repository name (#150)

feat(dispatch-release-note): trigger by action_repository name

* chore: sync files (#181)

Signed-off-by: GitHub <[email protected]>
Co-authored-by: shmpwk <[email protected]>

* chore: sync files (#200)

Signed-off-by: GitHub <[email protected]>
Co-authored-by: shmpwk <[email protected]>

* chore: sync files (#202)

Signed-off-by: GitHub <[email protected]>
Co-authored-by: shmpwk <[email protected]>

* chore: update sync upstream script (#236)

Signed-off-by: tomoya.kimura <[email protected]>

* chore: add workflow to merge beta branch to tier4 main (#239)

* chore: add workflow to merge beta branch to tier4 main

Signed-off-by: tomoya.kimura <[email protected]>

* fix: fix workflow name

Signed-off-by: tomoya.kimura <[email protected]>

* fix: fix job name and pr-label

Signed-off-by: tomoya.kimura <[email protected]>

* fix: fix variable name

Signed-off-by: tomoya.kimura <[email protected]>

---------

Signed-off-by: tomoya.kimura <[email protected]>

* chore: sync files (#251)

Signed-off-by: GitHub <[email protected]>
Co-authored-by: github-actions <[email protected]>

* chore: sync files (#255)

Signed-off-by: GitHub <[email protected]>
Co-authored-by: github-actions <[email protected]>

* feat(start_planner): add surround moving obstacle check (#723)

update start_planner.param.yaml

Signed-off-by: kyoichi-sugahara <[email protected]>

* feat: add github workflow of create-awf-latest.yml

Signed-off-by: Takayuki Murooka <[email protected]>

* fix(pointpainting): update parameter structure (#778)

* fix(pointpainting): update parameter structure

Signed-off-by: kminoda <[email protected]>

* update roi_sync.param.yaml

Signed-off-by: kminoda <[email protected]>

* style(pre-commit): autofix

---------

Signed-off-by: kminoda <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* fix(rviz): hide traffic light regulatory element id (#777)

Signed-off-by: satoshi-ota <[email protected]>

* feat(behavior_velocity_planner): add new 'dynamic_obstacle_stop' module (#267)

feat(behavior_velocity_planner): add new 'dynamic_obstacle_stop' module (#730)

Signed-off-by: Maxime CLEMENT <[email protected]>

* feat(start_planner): keep distance against front objects (#766)

Add collision check margin from front object

Signed-off-by: kyoichi-sugahara <[email protected]>

* feat(start_planner): define collision check margin as list (#770)

* Update collision check margins in start planner configuration

Signed-off-by: kyoichi-sugahara <[email protected]>

---------

Signed-off-by: kyoichi-sugahara <[email protected]>

* fix(intersection): fix bugs (#781)

Signed-off-by: Mamoru Sobue <[email protected]>

* feat(multi_object_tracker): fix typo in param name and change default value (#271)

feat(multi_object_tracker): fix typo in param name and change default value (#785)

* fix(multi_object_tracker): fix typo in param name



* feat: update default param



---------

Signed-off-by: kminoda <[email protected]>

* feat: add sync-awf-latest.yaml (#272)

Signed-off-by: Takayuki Murooka <[email protected]>

* chore: disable auto-merge of sync-awf-latest (#274)

Signed-off-by: Takayuki Murooka <[email protected]>

* feat(start_planner): shorten max backward distance  (#734)

Update start_planner.param.yaml

* feat: enable auto-merge in sync-awf-latest.yaml

Signed-off-by: Takayuki Murooka <[email protected]>

* chore: sync files (#291)

Signed-off-by: GitHub <[email protected]>
Co-authored-by: github-actions <[email protected]>

* chore: sync files (#299)

Signed-off-by: GitHub <[email protected]>
Co-authored-by: github-actions <[email protected]>

* feat: use tier4/awf-latest for upstream sync

Signed-off-by: Takayuki Murooka <[email protected]>

* chore: sync files (#315)

Signed-off-by: GitHub <[email protected]>
Co-authored-by: github-actions <[email protected]>

* chore: remove unnecessary workflows

Signed-off-by: Takayuki Murooka <[email protected]>

* fix

Signed-off-by: Takayuki Murooka <[email protected]>

* chore: update CODEOWNERS (#340)

Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
Co-authored-by: github-actions <[email protected]>

* feat(ci): add sync-tier4-upstream-up-to-tag (#347)

* feat(ci): add sync-tier4-upstream-up-to-tag

* style(pre-commit): autofix

* delete quote

---------

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* feat: run sync-awf-latest every one hour (#365)

Signed-off-by: Takayuki Murooka <[email protected]>

* fix: cherry-pick necessary changes from tier4/main (#368)

Signed-off-by: Takayuki Murooka <[email protected]>

* chore: sync files (#379)

Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
Co-authored-by: github-actions <[email protected]>

* fix: add has_variance to pointpainting.param.yaml

Signed-off-by: tzhong518 <[email protected]>

* chore: sync files (#391)

Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
Co-authored-by: github-actions <[email protected]>

* ci: add comment-on-pr.yaml (#400)

* chore: sync files (#427)

Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
Co-authored-by: github-actions <[email protected]>

* chore: sync files (#440)

Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
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* Merge pull request #453 from tier4/feat/disable-aeb-diagnostics-check

feat(aeb): disable aeb diagnostics check

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* feat(behavior_path_planner): add yaw threshold param (autowarefoundation#1040)

add yaw threshold param

Signed-off-by: Daniel Sanchez <[email protected]>

* Revert "fix(api): disable rosbridge to fix duplicated node (#497)"

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refactor: add-missing-parameters

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refactor: remove-missing-patameters

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* feat(emergency_handler): delete package (autowarefoundation#1173)

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* feat(tier4_perception_launch): enable to use multi camera on traffic light recognition (autowarefoundation#1144)

change the way to declare camera num

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* feat: use motion_velocity_obstacle_<stop/slow_down/cruise>_module (autowarefoundation#1315)

Revert "enable obstacle_cruise_planner"

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* Added pr-label "run:build-and-test-differential"

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* feat(behavior_planning): add behavior_path_planner_type to launch path_generator (autowarefoundation#1342)

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* feat(path_generator): add parameters (see below)

  * This fix is for the following PR:
      autowarefoundation/autoware_core#227

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fix for x1

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@rej55
fix: use individual params (#837) (#856)
c6ccbc1 
Signed-off-by: Fumiya Watanabe <[email protected]>
@Ericpotato @TaikiYamada4
chore: update diagnostic_graph_aggregator perception config (#860)
6a11b3d 
update diagnostic_graph_aggregator perception config

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@github-actions github-actions bot added component:localization Vehicle's position determination in its environment. (auto-assigned) component:system System design and integration. (auto-assigned) type:ci Continuous Integration (CI) processes and testing. (auto-assigned) component:control Vehicle control algorithms and mechanisms. (auto-assigned) component:map Map creation, storage, and loading. (auto-assigned) component:perception Advanced sensor data processing and environment understanding. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) component:ui User interface, user experience, graphical user interfaces. (auto-assigned) labels May 9, 2025
@PanConChicharron PanConChicharron force-pushed the arjun.ram/RT1-9554.x1 branch from ca483fd to 270e314 Compare May 9, 2025 08:46
@PanConChicharron PanConChicharron force-pushed the arjun.ram/RT1-9554.x1 branch 2 times, most recently from 4186d2d to 6a11b3d Compare May 9, 2025 08:50
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feat(autoware_motion_velocity_planner): point-cloud clustering optimi…
c679ce9 
…zation (autowarefoundation#1410)

* fix

Signed-off-by: Arjun Jagdish Ram <[email protected]>

* fix

* fix

---------

Signed-off-by: Arjun Jagdish Ram <[email protected]>
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component:control Vehicle control algorithms and mechanisms. (auto-assigned) component:localization Vehicle's position determination in its environment. (auto-assigned) component:map Map creation, storage, and loading. (auto-assigned) component:perception Advanced sensor data processing and environment understanding. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) component:system System design and integration. (auto-assigned) component:ui User interface, user experience, graphical user interfaces. (auto-assigned) status:stale type:ci Continuous Integration (CI) processes and testing. (auto-assigned)
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