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Remove unnecessary functions/files from autoware_universe_utils #12376

@mitsudome-r

Description

@mitsudome-r

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  • I've read the contribution guidelines.
  • I've searched other issues and no duplicate issues were found.
  • I've agreed with the maintainers that I can plan this task.

Description

We have extracted many functions in autoware_universe_utils to autoware_utils package.

We should replace the functions in autoware with autoware_utils instead of autoware_universe_utils so that we can deprecate autoware_universe_utils.

Purpose

Make sure that we have single source to maintain core util functions used across Autoware.

Possible approaches

Replace each modules in autoware_universe_utils to autoware_universe, then deprecate the functions in autoware_universe_utils.

Definition of done

  • remove dependencies in autoware_universe_utils in common
  • remove dependencies to autoware_universe_utils in planning
  • remove dependencies to autoware_universe_utils in perception
  • remove dependencies to autoware_universe_utils in sensing
  • remove dependencies to autoware_universe_utils in system
  • remove dependencies to autoware_universe_utils in autoware_tools
  • deprecate functions in autoware_universe_utils

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