miursh
diff --git a/‎common/autoware_utils/CMakeLists.txt
+38 b/‎common/autoware_utils/CMakeLists.txt
+38
diff --git a/‎common/autoware_utils/README.md
+5 b/‎common/autoware_utils/README.md
+5
diff --git a/‎common/autoware_utils/include/autoware_utils/autoware_utils.hpp
+37 b/‎common/autoware_utils/include/autoware_utils/autoware_utils.hpp
+37
diff --git a/‎common/autoware_utils/include/autoware_utils/geometry/boost_geometry.hpp
+96 b/‎common/autoware_utils/include/autoware_utils/geometry/boost_geometry.hpp
+96
@@ -0,0 +1,38 @@
+cmake_minimum_required(VERSION 3.5)
+project(autoware_utils)
+
+### Compile options
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+find_package(Boost REQUIRED)
+
+ament_auto_add_library(autoware_utils SHARED
+  src/autoware_utils.cpp
+  src/planning/planning_marker_helper.cpp
+)
+
+# Test
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_gtest REQUIRED)
+
+  file(GLOB_RECURSE test_files test/**/*.cpp)
+
+  ament_add_gtest(test_autoware_utils ${test_files})
+
+  target_link_libraries(test_autoware_utils
+    autoware_utils
+  )
+endif()
+
+ament_auto_package()
@@ -0,0 +1,5 @@
+# autoware_utils
+
+## Purpose
+
+This package contains many common functions used by other packages, so please refer to them as needed.
@@ -0,0 +1,37 @@
+// Copyright 2020 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_UTILS__AUTOWARE_UTILS_HPP_
+#define AUTOWARE_UTILS__AUTOWARE_UTILS_HPP_
+
+#include "autoware_utils/geometry/boost_geometry.hpp"
+#include "autoware_utils/geometry/geometry.hpp"
+#include "autoware_utils/geometry/pose_deviation.hpp"
+#include "autoware_utils/math/constants.hpp"
+#include "autoware_utils/math/normalization.hpp"
+#include "autoware_utils/math/range.hpp"
+#include "autoware_utils/math/unit_conversion.hpp"
+#include "autoware_utils/planning/planning_marker_helper.hpp"
+#include "autoware_utils/ros/debug_publisher.hpp"
+#include "autoware_utils/ros/debug_traits.hpp"
+#include "autoware_utils/ros/marker_helper.hpp"
+#include "autoware_utils/ros/processing_time_publisher.hpp"
+#include "autoware_utils/ros/self_pose_listener.hpp"
+#include "autoware_utils/ros/transform_listener.hpp"
+#include "autoware_utils/ros/update_param.hpp"
+#include "autoware_utils/ros/wait_for_param.hpp"
+#include "autoware_utils/system/stop_watch.hpp"
+#include "autoware_utils/trajectory/trajectory.hpp"
+
+#endif  // AUTOWARE_UTILS__AUTOWARE_UTILS_HPP_
@@ -0,0 +1,96 @@
+// Copyright 2020 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_UTILS__GEOMETRY__BOOST_GEOMETRY_HPP_
+#define AUTOWARE_UTILS__GEOMETRY__BOOST_GEOMETRY_HPP_
+
+#include <boost/geometry/core/cs.hpp>
+#include <boost/geometry/geometries/geometries.hpp>
+#include <boost/geometry/geometries/register/point.hpp>
+
+#define EIGEN_MPL2_ONLY
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+
+#include <geometry_msgs/msg/point.hpp>
+
+namespace autoware_utils
+{
+// 2D
+struct Point2d;
+using Segment2d = boost::geometry::model::segment<Point2d>;
+using Box2d = boost::geometry::model::box<Point2d>;
+using LineString2d = boost::geometry::model::linestring<Point2d>;
+using LinearRing2d = boost::geometry::model::ring<Point2d>;
+using Polygon2d = boost::geometry::model::polygon<Point2d>;
+using MultiPoint2d = boost::geometry::model::multi_point<Point2d>;
+using MultiLineString2d = boost::geometry::model::multi_linestring<Point2d>;
+using MultiPolygon2d = boost::geometry::model::multi_polygon<Point2d>;
+
+// 3D
+struct Point3d;
+using Segment3d = boost::geometry::model::segment<Point3d>;
+using Box3d = boost::geometry::model::box<Point3d>;
+using LineString3d = boost::geometry::model::linestring<Point3d>;
+using LinearRing3d = boost::geometry::model::ring<Point3d>;
+using Polygon3d = boost::geometry::model::polygon<Point3d>;
+using MultiPoint3d = boost::geometry::model::multi_point<Point3d>;
+using MultiLineString3d = boost::geometry::model::multi_linestring<Point3d>;
+using MultiPolygon3d = boost::geometry::model::multi_polygon<Point3d>;
+
+struct Point2d : public Eigen::Vector2d
+{
+  Point2d() = default;
+  Point2d(const double x, const double y) : Eigen::Vector2d(x, y) {}
+
+  [[nodiscard]] Point3d to_3d(const double z = 0.0) const;
+};
+
+struct Point3d : public Eigen::Vector3d
+{
+  Point3d() = default;
+  Point3d(const double x, const double y, const double z) : Eigen::Vector3d(x, y, z) {}
+
+  [[nodiscard]] Point2d to_2d() const;
+};
+
+inline Point3d Point2d::to_3d(const double z) const { return Point3d{x(), y(), z}; }
+
+inline Point2d Point3d::to_2d() const { return Point2d{x(), y()}; }
+
+inline geometry_msgs::msg::Point toMsg(const Point3d & point)
+{
+  geometry_msgs::msg::Point msg;
+  msg.x = point.x();
+  msg.y = point.y();
+  msg.z = point.z();
+  return msg;
+}
+
+inline Point3d fromMsg(const geometry_msgs::msg::Point & msg)
+{
+  Point3d point;
+  point.x() = msg.x;
+  point.y() = msg.y;
+  point.z() = msg.z;
+  return point;
+}
+}  // namespace autoware_utils
+
+BOOST_GEOMETRY_REGISTER_POINT_2D(                                 // NOLINT
+  autoware_utils::Point2d, double, cs::cartesian, x(), y())       // NOLINT
+BOOST_GEOMETRY_REGISTER_POINT_3D(                                 // NOLINT
+  autoware_utils::Point3d, double, cs::cartesian, x(), y(), z())  // NOLINT
+
+#endif  // AUTOWARE_UTILS__GEOMETRY__BOOST_GEOMETRY_HPP_