From 9c7ec8abcdcde77aed447fc4c292ee8dfc8875c5 Mon Sep 17 00:00:00 2001
From: SakodaShintaro <shintaro.sakoda@tier4.jp>
Date: Fri, 6 Dec 2024 19:25:41 +0900
Subject: [PATCH 01/36] fix: autoware_glog_compontnt (#9586)

Fixed autoware_glog_compontnt

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
---
 launch/tier4_control_launch/launch/control.launch.xml         | 4 ++--
 .../behavior_planning/behavior_planning.launch.xml            | 2 +-
 .../lane_driving/motion_planning/motion_planning.launch.xml   | 2 +-
 .../launch/scenario_planning/parking.launch.xml               | 2 +-
 .../launch/scenario_planning/scenario_planning.launch.xml     | 2 +-
 .../launch/mission_planner.launch.xml                         | 2 +-
 6 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/launch/tier4_control_launch/launch/control.launch.xml b/launch/tier4_control_launch/launch/control.launch.xml
index a979f9e28244b..2b0339f1c5cad 100644
--- a/launch/tier4_control_launch/launch/control.launch.xml
+++ b/launch/tier4_control_launch/launch/control.launch.xml
@@ -51,7 +51,7 @@
     <group>
       <!-- set a control container to run all required components in the same process -->
       <node_container pkg="rclcpp_components" exec="$(var container_executable)" name="control_container" namespace="">
-        <composable_node pkg="autoware_glog_component" plugin="GlogComponent" name="glog_control_container_component"/>
+        <composable_node pkg="autoware_glog_component" plugin="autoware::glog_component::GlogComponent" name="glog_control_container_component"/>
         <!-- shift decider -->
         <composable_node pkg="autoware_shift_decider" plugin="autoware::shift_decider::ShiftDecider" name="autoware_shift_decider">
           <remap from="input/control_cmd" to="/control/trajectory_follower/control_cmd"/>
@@ -177,7 +177,7 @@
     <group>
       <!-- set a control check container to run all control checker components in the same process -->
       <node_container pkg="rclcpp_components" exec="$(var container_executable)" name="control_check_container" namespace="">
-        <composable_node pkg="autoware_glog_component" plugin="GlogComponent" name="glog_control_check_container_component"/>
+        <composable_node pkg="autoware_glog_component" plugin="autoware::glog_component::GlogComponent" name="glog_control_check_container_component"/>
       </node_container>
 
       <!-- lane departure checker -->
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
index 41326c1a16728..3579884064d5d 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -255,7 +255,7 @@
       <extra_arg name="use_intra_process_comms" value="false"/>
     </composable_node>
 
-    <composable_node pkg="autoware_glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
+    <composable_node pkg="autoware_glog_component" plugin="autoware::glog_component::GlogComponent" name="glog_component" namespace=""/>
   </node_container>
 
   <group if="$(var launch_compare_map_pipeline)">
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
index fb7e11419fdc9..555e8da787013 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
@@ -27,7 +27,7 @@
   <let name="motion_velocity_planner_launch_modules" value="$(eval &quot;'$(var motion_velocity_planner_launch_modules)' + '$(var launch_module_list_end)'&quot;)"/>
 
   <node_container pkg="rclcpp_components" exec="$(var container_type)" name="motion_planning_container" namespace="" args="" output="screen">
-    <composable_node pkg="autoware_glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
+    <composable_node pkg="autoware_glog_component" plugin="autoware::glog_component::GlogComponent" name="glog_component" namespace=""/>
   </node_container>
 
   <!-- path smoothing -->
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml
index 89961821fa761..1daeebe87d4eb 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml
@@ -32,7 +32,7 @@
         <extra_arg name="use_intra_process_comms" value="false"/>
       </composable_node>
 
-      <composable_node pkg="autoware_glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
+      <composable_node pkg="autoware_glog_component" plugin="autoware::glog_component::GlogComponent" name="glog_component" namespace=""/>
     </node_container>
   </group>
 </launch>
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml
index a89b47da13049..d90515f6cb335 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml
@@ -44,7 +44,7 @@
           <remap from="~/input/operation_mode_state" to="/system/operation_mode/state"/>
           <remap from="~/output/current_velocity_limit_mps" to="/planning/scenario_planning/current_max_velocity"/>
         </composable_node>
-        <composable_node pkg="autoware_glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
+        <composable_node pkg="autoware_glog_component" plugin="autoware::glog_component::GlogComponent" name="glog_component" namespace=""/>
       </node_container>
     </group>
   </group>
diff --git a/planning/autoware_mission_planner/launch/mission_planner.launch.xml b/planning/autoware_mission_planner/launch/mission_planner.launch.xml
index 0d9c9307d549c..c15874118011a 100644
--- a/planning/autoware_mission_planner/launch/mission_planner.launch.xml
+++ b/planning/autoware_mission_planner/launch/mission_planner.launch.xml
@@ -23,6 +23,6 @@
       <remap from="~/planner/route" to="route"/>
       <remap from="~/planner/state" to="state"/>
     </composable_node>
-    <composable_node pkg="autoware_glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
+    <composable_node pkg="autoware_glog_component" plugin="autoware::glog_component::GlogComponent" name="glog_component" namespace=""/>
   </node_container>
 </launch>

From c9f0f2688c57b0f657f5c1f28f036a970682e7f5 Mon Sep 17 00:00:00 2001
From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
Date: Fri, 6 Dec 2024 23:34:04 +0900
Subject: [PATCH 02/36] chore(package.xml): bump version to 0.39.0 (#9587)

* chore(package.xml): bump version to 0.39.0

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* fix: fix ticket links in CHANGELOG.rst

Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>

* fix: remove unnecessary diff

Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>

---------

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
---
 common/autoware_adapi_specs/CHANGELOG.rst     | 16 ++++++
 common/autoware_adapi_specs/package.xml       |  2 +-
 common/autoware_auto_common/CHANGELOG.rst     | 14 ++++++
 common/autoware_auto_common/package.xml       |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 13 +++++
 .../package.xml                               |  2 +-
 common/autoware_fake_test_node/CHANGELOG.rst  | 12 +++++
 common/autoware_fake_test_node/package.xml    |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 common/autoware_glog_component/CHANGELOG.rst  | 12 +++++
 common/autoware_glog_component/package.xml    |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 common/autoware_grid_map_utils/CHANGELOG.rst  | 12 +++++
 common/autoware_grid_map_utils/package.xml    |  2 +-
 common/autoware_interpolation/CHANGELOG.rst   | 12 +++++
 common/autoware_interpolation/package.xml     |  2 +-
 common/autoware_kalman_filter/CHANGELOG.rst   | 12 +++++
 common/autoware_kalman_filter/package.xml     |  2 +-
 common/autoware_motion_utils/CHANGELOG.rst    | 50 +++++++++++++++++++
 common/autoware_motion_utils/package.xml      |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 common/autoware_osqp_interface/CHANGELOG.rst  | 12 +++++
 common/autoware_osqp_interface/package.xml    |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 14 ++++++
 .../autoware_overlay_rviz_plugin/package.xml  |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 common/autoware_point_types/CHANGELOG.rst     | 12 +++++
 common/autoware_point_types/package.xml       |  2 +-
 common/autoware_polar_grid/CHANGELOG.rst      | 12 +++++
 common/autoware_polar_grid/package.xml        |  2 +-
 common/autoware_pyplot/package.xml            |  3 +-
 common/autoware_qp_interface/CHANGELOG.rst    | 13 +++++
 common/autoware_qp_interface/package.xml      |  2 +-
 .../autoware_signal_processing/CHANGELOG.rst  | 12 +++++
 common/autoware_signal_processing/package.xml |  2 +-
 common/autoware_test_utils/CHANGELOG.rst      | 32 ++++++++++++
 common/autoware_test_utils/package.xml        |  2 +-
 common/autoware_testing/CHANGELOG.rst         | 12 +++++
 common/autoware_testing/package.xml           |  2 +-
 common/autoware_time_utils/CHANGELOG.rst      | 18 +++++++
 common/autoware_time_utils/package.xml        |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../autoware_traffic_light_utils/package.xml  |  2 +-
 common/autoware_trajectory/CHANGELOG.rst      | 46 +++++++++++++++++
 common/autoware_trajectory/package.xml        |  2 +-
 common/autoware_universe_utils/CHANGELOG.rst  | 16 ++++++
 common/autoware_universe_utils/package.xml    |  2 +-
 .../autoware_vehicle_info_utils/CHANGELOG.rst | 12 +++++
 .../autoware_vehicle_info_utils/package.xml   |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../bag_time_manager_rviz_plugin/package.xml  |  2 +-
 common/tier4_adapi_rviz_plugin/CHANGELOG.rst  | 24 +++++++++
 common/tier4_adapi_rviz_plugin/package.xml    |  2 +-
 common/tier4_api_utils/CHANGELOG.rst          | 12 +++++
 common/tier4_api_utils/package.xml            |  2 +-
 .../CHANGELOG.rst                             | 24 +++++++++
 .../tier4_camera_view_rviz_plugin/package.xml |  2 +-
 .../tier4_datetime_rviz_plugin/CHANGELOG.rst  | 12 +++++
 common/tier4_datetime_rviz_plugin/package.xml |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../tier4_planning_rviz_plugin/CHANGELOG.rst  | 12 +++++
 common/tier4_planning_rviz_plugin/package.xml |  2 +-
 common/tier4_state_rviz_plugin/CHANGELOG.rst  | 14 ++++++
 common/tier4_state_rviz_plugin/package.xml    |  2 +-
 common/tier4_system_rviz_plugin/CHANGELOG.rst | 12 +++++
 common/tier4_system_rviz_plugin/package.xml   |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../tier4_vehicle_rviz_plugin/CHANGELOG.rst   | 14 ++++++
 common/tier4_vehicle_rviz_plugin/package.xml  |  2 +-
 .../CHANGELOG.rst                             | 41 +++++++++++++++
 .../package.xml                               |  2 +-
 .../autoware_collision_detector/CHANGELOG.rst | 20 ++++++++
 .../autoware_collision_detector/package.xml   |  2 +-
 .../autoware_control_validator/CHANGELOG.rst  | 14 ++++++
 .../autoware_control_validator/package.xml    |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 control/autoware_joy_controller/CHANGELOG.rst | 12 +++++
 control/autoware_joy_controller/package.xml   |  2 +-
 .../CHANGELOG.rst                             | 15 ++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 18 +++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 14 ++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 control/autoware_pure_pursuit/CHANGELOG.rst   | 14 ++++++
 control/autoware_pure_pursuit/package.xml     |  2 +-
 control/autoware_shift_decider/CHANGELOG.rst  | 12 +++++
 control/autoware_shift_decider/package.xml    |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 14 ++++++
 .../package.xml                               |  2 +-
 .../autoware_vehicle_cmd_gate/CHANGELOG.rst   | 16 ++++++
 control/autoware_vehicle_cmd_gate/package.xml |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../control_performance_analysis/package.xml  |  2 +-
 control/predicted_path_checker/CHANGELOG.rst  | 14 ++++++
 control/predicted_path_checker/package.xml    |  2 +-
 .../autoware_control_evaluator/CHANGELOG.rst  | 40 +++++++++++++++
 .../autoware_control_evaluator/package.xml    |  2 +-
 .../autoware_planning_evaluator/CHANGELOG.rst | 36 +++++++++++++
 .../autoware_planning_evaluator/package.xml   |  2 +-
 evaluator/kinematic_evaluator/CHANGELOG.rst   | 12 +++++
 evaluator/kinematic_evaluator/package.xml     |  2 +-
 .../localization_evaluator/CHANGELOG.rst      | 12 +++++
 evaluator/localization_evaluator/package.xml  |  2 +-
 .../perception_online_evaluator/CHANGELOG.rst | 12 +++++
 .../perception_online_evaluator/package.xml   |  2 +-
 .../scenario_simulator_v2_adapter/package.xml |  2 +-
 .../tier4_autoware_api_launch/CHANGELOG.rst   | 12 +++++
 launch/tier4_autoware_api_launch/package.xml  |  2 +-
 launch/tier4_control_launch/CHANGELOG.rst     | 27 ++++++++++
 launch/tier4_control_launch/package.xml       |  2 +-
 .../tier4_localization_launch/CHANGELOG.rst   | 12 +++++
 launch/tier4_localization_launch/package.xml  |  2 +-
 launch/tier4_map_launch/CHANGELOG.rst         | 12 +++++
 launch/tier4_map_launch/package.xml           |  2 +-
 launch/tier4_perception_launch/CHANGELOG.rst  | 12 +++++
 launch/tier4_perception_launch/package.xml    |  2 +-
 launch/tier4_planning_launch/CHANGELOG.rst    | 12 +++++
 launch/tier4_planning_launch/package.xml      |  2 +-
 launch/tier4_sensing_launch/CHANGELOG.rst     | 12 +++++
 launch/tier4_sensing_launch/package.xml       |  2 +-
 launch/tier4_simulator_launch/CHANGELOG.rst   | 36 +++++++++++++
 launch/tier4_simulator_launch/package.xml     |  2 +-
 launch/tier4_system_launch/CHANGELOG.rst      | 12 +++++
 launch/tier4_system_launch/package.xml        |  2 +-
 launch/tier4_vehicle_launch/CHANGELOG.rst     | 12 +++++
 launch/tier4_vehicle_launch/package.xml       |  2 +-
 .../autoware_ekf_localizer/CHANGELOG.rst      | 15 ++++++
 .../autoware_ekf_localizer/package.xml        |  2 +-
 .../autoware_geo_pose_projector/CHANGELOG.rst | 14 ++++++
 .../autoware_geo_pose_projector/package.xml   |  2 +-
 .../autoware_gyro_odometer/CHANGELOG.rst      | 12 +++++
 .../autoware_gyro_odometer/package.xml        |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../autoware_landmark_manager/CHANGELOG.rst   | 12 +++++
 .../autoware_landmark_manager/package.xml     |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../autoware_localization_util/CHANGELOG.rst  | 12 +++++
 .../autoware_localization_util/package.xml    |  2 +-
 .../autoware_ndt_scan_matcher/CHANGELOG.rst   | 50 +++++++++++++++++++
 .../autoware_ndt_scan_matcher/package.xml     |  2 +-
 .../autoware_pose2twist/CHANGELOG.rst         | 12 +++++
 localization/autoware_pose2twist/package.xml  |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../autoware_pose_initializer/CHANGELOG.rst   | 14 ++++++
 .../autoware_pose_initializer/package.xml     |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../autoware_stop_filter/CHANGELOG.rst        | 12 +++++
 localization/autoware_stop_filter/package.xml |  2 +-
 .../autoware_twist2accel/CHANGELOG.rst        | 12 +++++
 localization/autoware_twist2accel/package.xml |  2 +-
 .../yabloc/yabloc_common/CHANGELOG.rst        | 12 +++++
 localization/yabloc/yabloc_common/package.xml |  2 +-
 .../yabloc_image_processing/CHANGELOG.rst     | 12 +++++
 .../yabloc_image_processing/package.xml       |  2 +-
 .../yabloc/yabloc_monitor/CHANGELOG.rst       | 12 +++++
 .../yabloc/yabloc_monitor/package.xml         |  2 +-
 .../yabloc_particle_filter/CHANGELOG.rst      | 12 +++++
 .../yabloc/yabloc_particle_filter/package.xml |  2 +-
 .../yabloc_pose_initializer/CHANGELOG.rst     | 12 +++++
 .../yabloc_pose_initializer/package.xml       |  2 +-
 map/autoware_map_height_fitter/CHANGELOG.rst  | 12 +++++
 map/autoware_map_height_fitter/package.xml    |  2 +-
 map/autoware_map_loader/CHANGELOG.rst         | 14 ++++++
 map/autoware_map_loader/package.xml           |  2 +-
 .../CHANGELOG.rst                             | 14 ++++++
 .../package.xml                               |  2 +-
 map/autoware_map_tf_generator/CHANGELOG.rst   | 12 +++++
 map/autoware_map_tf_generator/package.xml     |  2 +-
 perception/autoware_bytetrack/CHANGELOG.rst   | 14 ++++++
 perception/autoware_bytetrack/package.xml     |  2 +-
 .../autoware_cluster_merger/CHANGELOG.rst     | 12 +++++
 .../autoware_cluster_merger/package.xml       |  2 +-
 .../CHANGELOG.rst                             | 14 ++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 17 +++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 17 +++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../autoware_detection_by_tracker/package.xml |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../autoware_elevation_map_loader/package.xml |  2 +-
 .../autoware_euclidean_cluster/CHANGELOG.rst  | 15 ++++++
 .../autoware_euclidean_cluster/package.xml    |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../autoware_ground_segmentation/package.xml  |  2 +-
 .../CHANGELOG.rst                             | 23 +++++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 15 ++++++
 .../package.xml                               |  2 +-
 .../autoware_lidar_centerpoint/CHANGELOG.rst  | 12 +++++
 .../autoware_lidar_centerpoint/package.xml    |  2 +-
 .../autoware_lidar_transfusion/CHANGELOG.rst  | 12 +++++
 .../autoware_lidar_transfusion/package.xml    |  2 +-
 .../CHANGELOG.rst                             | 30 +++++++++++
 .../autoware_map_based_prediction/package.xml |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../autoware_multi_object_tracker/package.xml |  2 +-
 .../autoware_object_merger/CHANGELOG.rst      | 12 +++++
 perception/autoware_object_merger/package.xml |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 15 ++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../autoware_radar_object_tracker/package.xml |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../autoware_shape_estimation/CHANGELOG.rst   | 14 ++++++
 .../autoware_shape_estimation/package.xml     |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../autoware_simple_object_merger/package.xml |  2 +-
 .../CHANGELOG.rst                             | 14 ++++++
 .../autoware_tensorrt_classifier/package.xml  |  2 +-
 .../autoware_tensorrt_common/CHANGELOG.rst    | 12 +++++
 .../autoware_tensorrt_common/package.xml      |  2 +-
 .../autoware_tensorrt_yolox/CHANGELOG.rst     | 14 ++++++
 .../autoware_tensorrt_yolox/package.xml       |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 17 +++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 18 +++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 17 +++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 17 +++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 17 +++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 17 +++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 17 +++++++
 .../package.xml                               |  2 +-
 perception/perception_utils/CHANGELOG.rst     | 12 +++++
 perception/perception_utils/package.xml       |  2 +-
 .../autoware_costmap_generator/CHANGELOG.rst  | 29 +++++++++++
 .../autoware_costmap_generator/package.xml    |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../autoware_freespace_planner/CHANGELOG.rst  | 12 +++++
 .../autoware_freespace_planner/package.xml    |  2 +-
 .../CHANGELOG.rst                             | 16 ++++++
 .../package.xml                               |  2 +-
 .../autoware_mission_planner/CHANGELOG.rst    | 12 +++++
 planning/autoware_mission_planner/package.xml |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 39 +++++++++++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../autoware_path_optimizer/CHANGELOG.rst     | 12 +++++
 planning/autoware_path_optimizer/package.xml  |  2 +-
 planning/autoware_path_smoother/CHANGELOG.rst | 12 +++++
 planning/autoware_path_smoother/package.xml   |  2 +-
 .../CHANGELOG.rst                             | 14 ++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../autoware_planning_validator/CHANGELOG.rst | 12 +++++
 .../autoware_planning_validator/package.xml   |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 planning/autoware_route_handler/CHANGELOG.rst | 12 +++++
 planning/autoware_route_handler/package.xml   |  2 +-
 planning/autoware_rtc_interface/CHANGELOG.rst | 24 +++++++++
 planning/autoware_rtc_interface/package.xml   |  2 +-
 .../autoware_scenario_selector/CHANGELOG.rst  | 12 +++++
 .../autoware_scenario_selector/package.xml    |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../autoware_velocity_smoother/CHANGELOG.rst  | 14 ++++++
 .../autoware_velocity_smoother/package.xml    |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 17 +++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 39 +++++++++++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 35 +++++++++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 14 ++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 16 ++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 25 ++++++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 15 ++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 14 ++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 19 +++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 14 ++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 17 +++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 19 +++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 14 ++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 36 +++++++++++++
 .../package.xml                               |  2 +-
 .../autoware_bezier_sampler/CHANGELOG.rst     | 12 +++++
 .../autoware_bezier_sampler/package.xml       |  2 +-
 .../autoware_frenet_planner/CHANGELOG.rst     | 12 +++++
 .../autoware_frenet_planner/package.xml       |  2 +-
 .../autoware_path_sampler/CHANGELOG.rst       | 12 +++++
 .../autoware_path_sampler/package.xml         |  2 +-
 .../autoware_sampler_common/CHANGELOG.rst     | 12 +++++
 .../autoware_sampler_common/package.xml       |  2 +-
 sensing/autoware_cuda_utils/CHANGELOG.rst     | 17 ++++++-
 sensing/autoware_cuda_utils/package.xml       |  2 +-
 sensing/autoware_gnss_poser/CHANGELOG.rst     | 14 ++++++
 sensing/autoware_gnss_poser/package.xml       |  2 +-
 .../autoware_image_diagnostics/CHANGELOG.rst  | 12 +++++
 .../autoware_image_diagnostics/package.xml    |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 sensing/autoware_imu_corrector/CHANGELOG.rst  | 12 +++++
 sensing/autoware_imu_corrector/package.xml    |  2 +-
 sensing/autoware_pcl_extensions/CHANGELOG.rst | 12 +++++
 sensing/autoware_pcl_extensions/package.xml   |  2 +-
 .../CHANGELOG.rst                             | 21 ++++++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../autoware_livox_tag_filter/CHANGELOG.rst   | 12 +++++
 .../autoware_livox_tag_filter/package.xml     |  2 +-
 .../autoware_carla_interface/CHANGELOG.rst    | 12 +++++
 .../autoware_carla_interface/package.xml      |  2 +-
 .../dummy_perception_publisher/CHANGELOG.rst  | 12 +++++
 .../dummy_perception_publisher/package.xml    |  2 +-
 simulator/fault_injection/CHANGELOG.rst       | 12 +++++
 simulator/fault_injection/package.xml         |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../learning_based_vehicle_model/package.xml  |  2 +-
 .../simple_planning_simulator/CHANGELOG.rst   | 12 +++++
 .../simple_planning_simulator/package.xml     |  2 +-
 .../CHANGELOG.rst                             | 14 ++++++
 .../package.xml                               |  2 +-
 .../vehicle_door_simulator/CHANGELOG.rst      | 12 +++++
 simulator/vehicle_door_simulator/package.xml  |  2 +-
 .../autoware_component_monitor/CHANGELOG.rst  | 12 +++++
 system/autoware_component_monitor/package.xml |  2 +-
 system/autoware_default_adapi/CHANGELOG.rst   | 26 ++++++++++
 system/autoware_default_adapi/package.xml     |  2 +-
 .../CHANGELOG.rst                             | 36 +++++++++++++
 .../package.xml                               |  2 +-
 system/bluetooth_monitor/CHANGELOG.rst        | 12 +++++
 system/bluetooth_monitor/package.xml          |  2 +-
 system/component_state_monitor/CHANGELOG.rst  | 12 +++++
 system/component_state_monitor/package.xml    |  2 +-
 .../ad_api_adaptors/CHANGELOG.rst             | 24 +++++++++
 .../ad_api_adaptors/package.xml               |  2 +-
 .../ad_api_visualizers/CHANGELOG.rst          | 12 +++++
 .../ad_api_visualizers/package.xml            |  2 +-
 .../ad_api_visualizers/setup.py               |  2 +-
 .../automatic_pose_initializer/CHANGELOG.rst  | 24 +++++++++
 .../automatic_pose_initializer/package.xml    |  2 +-
 .../diagnostic_graph_aggregator/CHANGELOG.rst | 14 ++++++
 .../diagnostic_graph_aggregator/package.xml   |  2 +-
 system/diagnostic_graph_utils/CHANGELOG.rst   | 15 ++++++
 system/diagnostic_graph_utils/package.xml     |  2 +-
 system/dummy_diag_publisher/CHANGELOG.rst     | 22 ++++++++
 system/dummy_diag_publisher/package.xml       |  2 +-
 system/dummy_infrastructure/CHANGELOG.rst     | 12 +++++
 system/dummy_infrastructure/package.xml       |  2 +-
 system/duplicated_node_checker/CHANGELOG.rst  | 12 +++++
 system/duplicated_node_checker/package.xml    |  2 +-
 system/hazard_status_converter/CHANGELOG.rst  | 12 +++++
 system/hazard_status_converter/package.xml    |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../mrm_comfortable_stop_operator/package.xml |  2 +-
 .../mrm_emergency_stop_operator/CHANGELOG.rst | 12 +++++
 .../mrm_emergency_stop_operator/package.xml   |  2 +-
 system/mrm_handler/CHANGELOG.rst              | 12 +++++
 system/mrm_handler/package.xml                |  2 +-
 .../system_diagnostic_monitor/CHANGELOG.rst   | 12 +++++
 system/system_diagnostic_monitor/package.xml  |  2 +-
 system/system_monitor/CHANGELOG.rst           | 22 ++++++++
 system/system_monitor/package.xml             |  2 +-
 system/topic_state_monitor/CHANGELOG.rst      | 12 +++++
 system/topic_state_monitor/package.xml        |  2 +-
 system/velodyne_monitor/CHANGELOG.rst         | 12 +++++
 system/velodyne_monitor/package.xml           |  2 +-
 tools/reaction_analyzer/CHANGELOG.rst         | 12 +++++
 tools/reaction_analyzer/package.xml           |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 .../CHANGELOG.rst                             | 12 +++++
 .../package.xml                               |  2 +-
 489 files changed, 3890 insertions(+), 248 deletions(-)
 create mode 100644 common/autoware_trajectory/CHANGELOG.rst

diff --git a/common/autoware_adapi_specs/CHANGELOG.rst b/common/autoware_adapi_specs/CHANGELOG.rst
index b4fec15bfa98c..79e62f7738922 100644
--- a/common/autoware_adapi_specs/CHANGELOG.rst
+++ b/common/autoware_adapi_specs/CHANGELOG.rst
@@ -2,6 +2,22 @@
 Changelog for package autoware_adapi_specs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 <https://github.com/autowarefoundation/autoware.universe/issues/9250>`_)
+  * refactor(autoware_ad_api_specs): prefix package and namespace with autoware
+  * style(pre-commit): autofix
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * style(pre-commit): autofix
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_adapi_specs/package.xml b/common/autoware_adapi_specs/package.xml
index a949084dd8789..754edf9ddfbe7 100644
--- a/common/autoware_adapi_specs/package.xml
+++ b/common/autoware_adapi_specs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_adapi_specs</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_adapi_specs package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
diff --git a/common/autoware_auto_common/CHANGELOG.rst b/common/autoware_auto_common/CHANGELOG.rst
index 271ecb7badb38..93b2dba7939a2 100644
--- a/common/autoware_auto_common/CHANGELOG.rst
+++ b/common/autoware_auto_common/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package autoware_auto_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(qp_interface): prefix package and namespace with autoware (`#9236 <https://github.com/autowarefoundation/autoware.universe/issues/9236>`_)
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_auto_common/package.xml b/common/autoware_auto_common/package.xml
index 1a462ee9db7ac..9d12bda8c75c3 100644
--- a/common/autoware_auto_common/package.xml
+++ b/common/autoware_auto_common/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_auto_common</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>Miscellaneous helper functions</description>
   <maintainer email="opensource@apex.ai">Apex.AI, Inc.</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/common/autoware_component_interface_specs/CHANGELOG.rst b/common/autoware_component_interface_specs/CHANGELOG.rst
index 68a4eaaa2f36b..faacc0cfdb2bf 100644
--- a/common/autoware_component_interface_specs/CHANGELOG.rst
+++ b/common/autoware_component_interface_specs/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_component_interface_specs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_component_interface_specs/package.xml b/common/autoware_component_interface_specs/package.xml
index 0fbd632d52af3..5a2fd993613d1 100644
--- a/common/autoware_component_interface_specs/package.xml
+++ b/common/autoware_component_interface_specs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_component_interface_specs</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_component_interface_specs package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
diff --git a/common/autoware_component_interface_tools/CHANGELOG.rst b/common/autoware_component_interface_tools/CHANGELOG.rst
index d04567161c80d..e0c07efa43418 100644
--- a/common/autoware_component_interface_tools/CHANGELOG.rst
+++ b/common/autoware_component_interface_tools/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_component_interface_tools
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_component_interface_tools/package.xml b/common/autoware_component_interface_tools/package.xml
index 96514517e1574..d0c79f3ad0d67 100644
--- a/common/autoware_component_interface_tools/package.xml
+++ b/common/autoware_component_interface_tools/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_component_interface_tools</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_component_interface_tools package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/autoware_component_interface_utils/CHANGELOG.rst b/common/autoware_component_interface_utils/CHANGELOG.rst
index d7f476f33409a..6e6ee88a3f3a7 100644
--- a/common/autoware_component_interface_utils/CHANGELOG.rst
+++ b/common/autoware_component_interface_utils/CHANGELOG.rst
@@ -2,6 +2,19 @@
 Changelog for package autoware_component_interface_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_component_interface_utils/package.xml b/common/autoware_component_interface_utils/package.xml
index f1902d159e818..5efebf5c0d210 100755
--- a/common/autoware_component_interface_utils/package.xml
+++ b/common/autoware_component_interface_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_component_interface_utils</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_component_interface_utils package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
diff --git a/common/autoware_fake_test_node/CHANGELOG.rst b/common/autoware_fake_test_node/CHANGELOG.rst
index 330dddaa66aef..5f04908a8ab0f 100644
--- a/common/autoware_fake_test_node/CHANGELOG.rst
+++ b/common/autoware_fake_test_node/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_fake_test_node
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_fake_test_node/package.xml b/common/autoware_fake_test_node/package.xml
index 413f359eafbcc..531e9351023e6 100644
--- a/common/autoware_fake_test_node/package.xml
+++ b/common/autoware_fake_test_node/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_fake_test_node</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>A fake node that we can use in the integration-like cpp tests.</description>
   <maintainer email="opensource@apex.ai">Apex.AI, Inc.</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/common/autoware_global_parameter_loader/CHANGELOG.rst b/common/autoware_global_parameter_loader/CHANGELOG.rst
index ae5dfd0509592..2de0adf89cb3e 100644
--- a/common/autoware_global_parameter_loader/CHANGELOG.rst
+++ b/common/autoware_global_parameter_loader/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package global_parameter_loader
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_global_parameter_loader/package.xml b/common/autoware_global_parameter_loader/package.xml
index 2a72f93230da9..ef40ff8df22aa 100644
--- a/common/autoware_global_parameter_loader/package.xml
+++ b/common/autoware_global_parameter_loader/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_global_parameter_loader</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_global_parameter_loader package</description>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/autoware_glog_component/CHANGELOG.rst b/common/autoware_glog_component/CHANGELOG.rst
index b305cfb616e27..66eee038b6353 100644
--- a/common/autoware_glog_component/CHANGELOG.rst
+++ b/common/autoware_glog_component/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package glog_component
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_glog_component/package.xml b/common/autoware_glog_component/package.xml
index f9e6a1aa26723..3bfb6c97155b0 100644
--- a/common/autoware_glog_component/package.xml
+++ b/common/autoware_glog_component/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_glog_component</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_glog_component package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/autoware_goal_distance_calculator/CHANGELOG.rst b/common/autoware_goal_distance_calculator/CHANGELOG.rst
index 4b38ad848193b..45fa8825612ef 100644
--- a/common/autoware_goal_distance_calculator/CHANGELOG.rst
+++ b/common/autoware_goal_distance_calculator/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_goal_distance_calculator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_goal_distance_calculator/package.xml b/common/autoware_goal_distance_calculator/package.xml
index 4ad84b9f4f283..24b3b2f2ba9c6 100644
--- a/common/autoware_goal_distance_calculator/package.xml
+++ b/common/autoware_goal_distance_calculator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_goal_distance_calculator</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_goal_distance_calculator package</description>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/autoware_grid_map_utils/CHANGELOG.rst b/common/autoware_grid_map_utils/CHANGELOG.rst
index ee66753285b0e..31df087b80d59 100644
--- a/common/autoware_grid_map_utils/CHANGELOG.rst
+++ b/common/autoware_grid_map_utils/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_grid_map_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_grid_map_utils/package.xml b/common/autoware_grid_map_utils/package.xml
index 40c1ba7c96e87..cc64daa0045e0 100644
--- a/common/autoware_grid_map_utils/package.xml
+++ b/common/autoware_grid_map_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_grid_map_utils</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>Utilities for the grid_map library</description>
   <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/autoware_interpolation/CHANGELOG.rst b/common/autoware_interpolation/CHANGELOG.rst
index fbba411fcdeca..e62e73ae4ec21 100644
--- a/common/autoware_interpolation/CHANGELOG.rst
+++ b/common/autoware_interpolation/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_interpolation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_interpolation/package.xml b/common/autoware_interpolation/package.xml
index e94ec898cb0cb..22db75271b316 100644
--- a/common/autoware_interpolation/package.xml
+++ b/common/autoware_interpolation/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_interpolation</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The spline interpolation package</description>
   <maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/common/autoware_kalman_filter/CHANGELOG.rst b/common/autoware_kalman_filter/CHANGELOG.rst
index becf8dc95abec..5ec0bcc9e72dc 100644
--- a/common/autoware_kalman_filter/CHANGELOG.rst
+++ b/common/autoware_kalman_filter/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_kalman_filter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_kalman_filter/package.xml b/common/autoware_kalman_filter/package.xml
index a3c454795344b..4cd94ff488899 100644
--- a/common/autoware_kalman_filter/package.xml
+++ b/common/autoware_kalman_filter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_kalman_filter</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The kalman filter package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="takeshi.ishita@tier4.jp">Takeshi Ishita</maintainer>
diff --git a/common/autoware_motion_utils/CHANGELOG.rst b/common/autoware_motion_utils/CHANGELOG.rst
index 84374fb8a3f26..216d4d978bd8a 100644
--- a/common/autoware_motion_utils/CHANGELOG.rst
+++ b/common/autoware_motion_utils/CHANGELOG.rst
@@ -2,6 +2,56 @@
 Changelog for package autoware_motion_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 <https://github.com/autowarefoundation/autoware.universe/issues/9253>`_)
+  * create trajectory container package
+  * update
+  * update
+  * style(pre-commit): autofix
+  * update codeowner
+  * update
+  * fix cmake
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* feat(autoware_motion_utils): add new trajectory class (`#8693 <https://github.com/autowarefoundation/autoware.universe/issues/8693>`_)
+  * feat(autoware_motion_utils): add interpolator
+  * use int32_t instead of int
+  * use int32_t instead of int
+  * use int32_t instead of int
+  * add const as much as possible and use `at()` in `vector`
+  * fix directory name
+  * refactor code and add example
+  * update
+  * remove unused include
+  * refactor code
+  * add clone function
+  * fix stairstep
+  * make constructor to public
+  * feat(autoware_motion_utils): add trajectory class
+  * Update CMakeLists.txt
+  * fix
+  * fix package.xml
+  * update crop
+  * revert crtp change
+  * update package.xml
+  * updating...
+  * update
+  * solve build problem
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* Contributors: Esteve Fernandez, Yukinari Hisaki, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_motion_utils/package.xml b/common/autoware_motion_utils/package.xml
index 6fbe84927a9e3..4aa215b48e2ce 100644
--- a/common/autoware_motion_utils/package.xml
+++ b/common/autoware_motion_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_motion_utils</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_motion_utils package</description>
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/common/autoware_object_recognition_utils/CHANGELOG.rst b/common/autoware_object_recognition_utils/CHANGELOG.rst
index 1ff6a870e3791..44bc2573f435a 100644
--- a/common/autoware_object_recognition_utils/CHANGELOG.rst
+++ b/common/autoware_object_recognition_utils/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_object_recognition_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_object_recognition_utils/package.xml b/common/autoware_object_recognition_utils/package.xml
index 353a6af544783..729999f96dc6e 100644
--- a/common/autoware_object_recognition_utils/package.xml
+++ b/common/autoware_object_recognition_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_object_recognition_utils</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_object_recognition_utils package</description>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/common/autoware_osqp_interface/CHANGELOG.rst b/common/autoware_osqp_interface/CHANGELOG.rst
index 5af614d9301ad..5ce7b02250fda 100644
--- a/common/autoware_osqp_interface/CHANGELOG.rst
+++ b/common/autoware_osqp_interface/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_osqp_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_osqp_interface/package.xml b/common/autoware_osqp_interface/package.xml
index 063617716bdd6..95ffebe833cc6 100644
--- a/common/autoware_osqp_interface/package.xml
+++ b/common/autoware_osqp_interface/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_osqp_interface</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>Interface for the OSQP solver</description>
   <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst
index 86a9f62f236fa..7fdc075553c07 100644
--- a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst
+++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_mission_details_overlay_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml
index 1865376069def..1ae744322766e 100644
--- a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml
+++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_mission_details_overlay_rviz_plugin</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>
     RViz2 plugin for 2D overlays for mission details in the 3D view. Mainly a port of the JSK overlay plugin
         (https://github.com/jsk-ros-pkg/jsk_visualization).
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst
index 012be9e7cce85..b1cef0c598a85 100644
--- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package autoware_overlay_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix: missing dependency in common components (`#9072 <https://github.com/autowarefoundation/autoware.universe/issues/9072>`_)
+* Contributors: Esteve Fernandez, Yutaka Kondo, ぐるぐる
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml
index 6b0ee4fbd355e..1a626d90bc02b 100644
--- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_overlay_rviz_plugin</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>
     RViz2 plugin for 2D overlays in the 3D view. Mainly a port of the JSK overlay plugin
         (https://github.com/jsk-ros-pkg/jsk_visualization).
diff --git a/common/autoware_path_distance_calculator/CHANGELOG.rst b/common/autoware_path_distance_calculator/CHANGELOG.rst
index 436099b87795e..6adf0a3e3c851 100644
--- a/common/autoware_path_distance_calculator/CHANGELOG.rst
+++ b/common/autoware_path_distance_calculator/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_path_distance_calculator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_path_distance_calculator/package.xml b/common/autoware_path_distance_calculator/package.xml
index e9042c4385b66..7466b299e7e2e 100644
--- a/common/autoware_path_distance_calculator/package.xml
+++ b/common/autoware_path_distance_calculator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_path_distance_calculator</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_path_distance_calculator package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/autoware_perception_rviz_plugin/CHANGELOG.rst b/common/autoware_perception_rviz_plugin/CHANGELOG.rst
index 0f8e5ff1f7fd8..c84cd5bf35fa8 100644
--- a/common/autoware_perception_rviz_plugin/CHANGELOG.rst
+++ b/common/autoware_perception_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_perception_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_perception_rviz_plugin/package.xml b/common/autoware_perception_rviz_plugin/package.xml
index 98c24297894b6..3f6c168c9857a 100644
--- a/common/autoware_perception_rviz_plugin/package.xml
+++ b/common/autoware_perception_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_perception_rviz_plugin</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>Contains plugins to visualize object detection outputs</description>
   <maintainer email="opensource@apex.ai">Apex.AI, Inc.</maintainer>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
diff --git a/common/autoware_point_types/CHANGELOG.rst b/common/autoware_point_types/CHANGELOG.rst
index 3aa6d4183543e..12cef4043ae3e 100644
--- a/common/autoware_point_types/CHANGELOG.rst
+++ b/common/autoware_point_types/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_point_types
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_point_types/package.xml b/common/autoware_point_types/package.xml
index 8e9fb4fb51aa4..fd48c12daa2e9 100644
--- a/common/autoware_point_types/package.xml
+++ b/common/autoware_point_types/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_point_types</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The point types definition to use point_cloud_msg_wrapper</description>
   <maintainer email="david.wong@tier4.jp">David Wong</maintainer>
   <maintainer email="max.schmeller@tier4.jp">Max Schmeller</maintainer>
diff --git a/common/autoware_polar_grid/CHANGELOG.rst b/common/autoware_polar_grid/CHANGELOG.rst
index 359de11cb3104..b4e9e612fe093 100644
--- a/common/autoware_polar_grid/CHANGELOG.rst
+++ b/common/autoware_polar_grid/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_polar_grid
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_polar_grid/package.xml b/common/autoware_polar_grid/package.xml
index f14776b145349..a2ed7a138bdca 100644
--- a/common/autoware_polar_grid/package.xml
+++ b/common/autoware_polar_grid/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_polar_grid</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_polar_grid package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/autoware_pyplot/package.xml b/common/autoware_pyplot/package.xml
index af0237d0aead8..297ab68cb9367 100644
--- a/common/autoware_pyplot/package.xml
+++ b/common/autoware_pyplot/package.xml
@@ -2,11 +2,12 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_pyplot</name>
-  <version>0.1.0</version>
+  <version>0.39.0</version>
   <description>C++ interface for matplotlib based on pybind11</description>
   <maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
   <maintainer email="yukinari.hisaki.2@tier4.jp">Yukinari Hisaki</maintainer>
   <license>Apache License 2.0</license>
+  <author email="koji.minoda@tier4.jp">Koji Minoda</author>
 
   <author email="mamoru.sobue@tier4.jp">Mamoru Sobue</author>
 
diff --git a/common/autoware_qp_interface/CHANGELOG.rst b/common/autoware_qp_interface/CHANGELOG.rst
index 17e296bab4fca..ce931f6f5e1e7 100644
--- a/common/autoware_qp_interface/CHANGELOG.rst
+++ b/common/autoware_qp_interface/CHANGELOG.rst
@@ -2,6 +2,19 @@
 Changelog for package autoware_qp_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(qp_interface): prefix package and namespace with autoware (`#9236 <https://github.com/autowarefoundation/autoware.universe/issues/9236>`_)
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_qp_interface/package.xml b/common/autoware_qp_interface/package.xml
index 43c9c6607bcaa..5bd3ce1ad8464 100644
--- a/common/autoware_qp_interface/package.xml
+++ b/common/autoware_qp_interface/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_qp_interface</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>Interface for the QP solvers</description>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
   <maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>
diff --git a/common/autoware_signal_processing/CHANGELOG.rst b/common/autoware_signal_processing/CHANGELOG.rst
index f0293aefdc69d..f41732a258cf7 100644
--- a/common/autoware_signal_processing/CHANGELOG.rst
+++ b/common/autoware_signal_processing/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_signal_processing
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_signal_processing/package.xml b/common/autoware_signal_processing/package.xml
index 952833d10c59a..6197c641a6f82 100644
--- a/common/autoware_signal_processing/package.xml
+++ b/common/autoware_signal_processing/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_signal_processing</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The signal processing package</description>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
diff --git a/common/autoware_test_utils/CHANGELOG.rst b/common/autoware_test_utils/CHANGELOG.rst
index b9600e7cb7f22..02a046a20e595 100644
--- a/common/autoware_test_utils/CHANGELOG.rst
+++ b/common/autoware_test_utils/CHANGELOG.rst
@@ -2,6 +2,38 @@
 Changelog for package autoware_test_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* test(costmap_generator): unit test implementation for costmap generator (`#9149 <https://github.com/autowarefoundation/autoware.universe/issues/9149>`_)
+  * modify costmap generator directory structure
+  * rename class CostmapGenerator to CostmapGeneratorNode
+  * unit test for object_map_utils
+  * catch error from lookupTransform
+  * use polling subscriber in costmap generator node
+  * add test for costmap generator node
+  * add test for isActive()
+  * revert unnecessary changes
+  * remove commented out line
+  * minor fix
+  * Update planning/autoware_costmap_generator/src/costmap_generator.cpp
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  ---------
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(autoware_test_utils): use sample_vehicle/sample_sensor_kit (`#9290 <https://github.com/autowarefoundation/autoware.universe/issues/9290>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* feat(autoware_test_utils): add general topic dumper (`#9207 <https://github.com/autowarefoundation/autoware.universe/issues/9207>`_)
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* feat(autoware_test_utils): add traffic light msgs parser (`#9177 <https://github.com/autowarefoundation/autoware.universe/issues/9177>`_)
+* Contributors: Esteve Fernandez, Mamoru Sobue, Yutaka Kondo, mkquda
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_test_utils/package.xml b/common/autoware_test_utils/package.xml
index 712a3569a658b..97c81c62ba512 100644
--- a/common/autoware_test_utils/package.xml
+++ b/common/autoware_test_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_test_utils</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>ROS 2 node for testing interface of the nodes in planning module</description>
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
diff --git a/common/autoware_testing/CHANGELOG.rst b/common/autoware_testing/CHANGELOG.rst
index 36ad1ec42c3c5..1a016888fda47 100644
--- a/common/autoware_testing/CHANGELOG.rst
+++ b/common/autoware_testing/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_testing
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_testing/package.xml b/common/autoware_testing/package.xml
index 483b8323e224f..ae5b5e7a5d466 100644
--- a/common/autoware_testing/package.xml
+++ b/common/autoware_testing/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_testing</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>Tools for handling standard tests based on ros_testing</description>
   <maintainer email="adam.dabrowski@robotec.ai">Adam Dabrowski</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/common/autoware_time_utils/CHANGELOG.rst b/common/autoware_time_utils/CHANGELOG.rst
index 43074de077e04..4f0f87e5daad8 100644
--- a/common/autoware_time_utils/CHANGELOG.rst
+++ b/common/autoware_time_utils/CHANGELOG.rst
@@ -2,6 +2,24 @@
 Changelog for package autoware_time_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(time_utils): prefix package and namespace with autoware (`#9173 <https://github.com/autowarefoundation/autoware.universe/issues/9173>`_)
+  * refactor(time_utils): prefix package and namespace with autoware
+  * refactor(time_utils): prefix package and namespace with autoware
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_time_utils/package.xml b/common/autoware_time_utils/package.xml
index 988ebad188839..6491006b6cc27 100644
--- a/common/autoware_time_utils/package.xml
+++ b/common/autoware_time_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_time_utils</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>Simple conversion methods to/from std::chrono to simplify algorithm development</description>
   <maintainer email="christopherj.ho@gmail.com">Christopher Ho</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst b/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst
index 98691121f4d30..ea5339ba8d566 100644
--- a/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst
+++ b/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_traffic_light_recognition_marker_publisher
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_traffic_light_recognition_marker_publisher/package.xml b/common/autoware_traffic_light_recognition_marker_publisher/package.xml
index 88addcfb77b44..ddca8ad56c281 100644
--- a/common/autoware_traffic_light_recognition_marker_publisher/package.xml
+++ b/common/autoware_traffic_light_recognition_marker_publisher/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_traffic_light_recognition_marker_publisher</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_traffic_light_recognition_marker_publisher package</description>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
   <maintainer email="takeshi.miura@tier4.jp">Takeshi Miura</maintainer>
diff --git a/common/autoware_traffic_light_utils/CHANGELOG.rst b/common/autoware_traffic_light_utils/CHANGELOG.rst
index d74774ae8ef3a..518123e826992 100644
--- a/common/autoware_traffic_light_utils/CHANGELOG.rst
+++ b/common/autoware_traffic_light_utils/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_traffic_light_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_traffic_light_utils/package.xml b/common/autoware_traffic_light_utils/package.xml
index 384839d1c91d4..744a7b08c22a9 100644
--- a/common/autoware_traffic_light_utils/package.xml
+++ b/common/autoware_traffic_light_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_traffic_light_utils</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_traffic_light_utils package</description>
   <maintainer email="kotaro.uetake@tier4.jp">Kotaro Uetake</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/common/autoware_trajectory/CHANGELOG.rst b/common/autoware_trajectory/CHANGELOG.rst
new file mode 100644
index 0000000000000..1fbf18ec57abe
--- /dev/null
+++ b/common/autoware_trajectory/CHANGELOG.rst
@@ -0,0 +1,46 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package autoware_trajectory
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.39.0 (2024-11-25)
+-------------------
+* add changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* feat(autoware_trajectory): change default value of min_points (`#9315 <https://github.com/autowarefoundation/autoware.universe/issues/9315>`_)
+* fix(autoware_trajectory): fix bug of autoware_trajectory (`#9314 <https://github.com/autowarefoundation/autoware.universe/issues/9314>`_)
+* feat(autoware_trajectory): change interface of InterpolatedArray (`#9264 <https://github.com/autowarefoundation/autoware.universe/issues/9264>`_)
+  change interface of InterpolateArray
+* feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 <https://github.com/autowarefoundation/autoware.universe/issues/9253>`_)
+  * create trajectory container package
+  * update
+  * update
+  * style(pre-commit): autofix
+  * update codeowner
+  * update
+  * fix cmake
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* Contributors: Yukinari Hisaki, Yutaka Kondo
+
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* feat(autoware_trajectory): change default value of min_points (`#9315 <https://github.com/autowarefoundation/autoware.universe/issues/9315>`_)
+* fix(autoware_trajectory): fix bug of autoware_trajectory (`#9314 <https://github.com/autowarefoundation/autoware.universe/issues/9314>`_)
+* feat(autoware_trajectory): change interface of InterpolatedArray (`#9264 <https://github.com/autowarefoundation/autoware.universe/issues/9264>`_)
+  change interface of InterpolateArray
+* feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 <https://github.com/autowarefoundation/autoware.universe/issues/9253>`_)
+  * create trajectory container package
+  * update
+  * update
+  * style(pre-commit): autofix
+  * update codeowner
+  * update
+  * fix cmake
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* Contributors: Yukinari Hisaki, Yutaka Kondo
+
+0.38.0 (2024-11-11)
+-------------------
+
+0.26.0 (2024-04-03)
+-------------------
diff --git a/common/autoware_trajectory/package.xml b/common/autoware_trajectory/package.xml
index d6ab5465578aa..b1aaaed7efc6b 100644
--- a/common/autoware_trajectory/package.xml
+++ b/common/autoware_trajectory/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_trajectory</name>
-  <version>0.1.0</version>
+  <version>0.39.0</version>
   <description>The autoware_trajectory package</description>
   <maintainer email="yukinari.hisaki.2@tier4.jp">Yukinari Hisaki</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/common/autoware_universe_utils/CHANGELOG.rst b/common/autoware_universe_utils/CHANGELOG.rst
index 8d79fbb4f4f2a..c85a9f14e960e 100644
--- a/common/autoware_universe_utils/CHANGELOG.rst
+++ b/common/autoware_universe_utils/CHANGELOG.rst
@@ -2,6 +2,22 @@
 Changelog for package autoware_universe_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation (`#8995 <https://github.com/autowarefoundation/autoware.universe/issues/8995>`_)
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Giovanni Muhammad Raditya, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_universe_utils/package.xml b/common/autoware_universe_utils/package.xml
index 535206f57c25c..1c2e9993439e4 100644
--- a/common/autoware_universe_utils/package.xml
+++ b/common/autoware_universe_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_universe_utils</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_universe_utils package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/common/autoware_vehicle_info_utils/CHANGELOG.rst b/common/autoware_vehicle_info_utils/CHANGELOG.rst
index 5ad86eddf9f52..4d76f469414b5 100644
--- a/common/autoware_vehicle_info_utils/CHANGELOG.rst
+++ b/common/autoware_vehicle_info_utils/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_vehicle_info_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/autoware_vehicle_info_utils/package.xml b/common/autoware_vehicle_info_utils/package.xml
index 1e35c8fce516e..bc3f12f5f3ca0 100644
--- a/common/autoware_vehicle_info_utils/package.xml
+++ b/common/autoware_vehicle_info_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_vehicle_info_utils</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_vehicle_info_utils package</description>
 
   <!-- maintainer -->
diff --git a/common/bag_time_manager_rviz_plugin/CHANGELOG.rst b/common/bag_time_manager_rviz_plugin/CHANGELOG.rst
index a47ad569440b4..af35aa6921956 100644
--- a/common/bag_time_manager_rviz_plugin/CHANGELOG.rst
+++ b/common/bag_time_manager_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package bag_time_manager_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/bag_time_manager_rviz_plugin/package.xml b/common/bag_time_manager_rviz_plugin/package.xml
index e9df21b48535f..c3e9895805a12 100644
--- a/common/bag_time_manager_rviz_plugin/package.xml
+++ b/common/bag_time_manager_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bag_time_manager_rviz_plugin</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>Rviz plugin to publish and control the ros bag</description>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/tier4_adapi_rviz_plugin/CHANGELOG.rst b/common/tier4_adapi_rviz_plugin/CHANGELOG.rst
index b151eb7f7e06d..ed05abec453cb 100644
--- a/common/tier4_adapi_rviz_plugin/CHANGELOG.rst
+++ b/common/tier4_adapi_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package tier4_adapi_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 <https://github.com/autowarefoundation/autoware.universe/issues/9250>`_)
+  * refactor(autoware_ad_api_specs): prefix package and namespace with autoware
+  * style(pre-commit): autofix
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * style(pre-commit): autofix
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/tier4_adapi_rviz_plugin/package.xml b/common/tier4_adapi_rviz_plugin/package.xml
index c31e19919ff22..97418c7308f5b 100644
--- a/common/tier4_adapi_rviz_plugin/package.xml
+++ b/common/tier4_adapi_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_adapi_rviz_plugin</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware adapi rviz plugin package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="hiroki.ota@tier4.jp">Hiroki OTA</maintainer>
diff --git a/common/tier4_api_utils/CHANGELOG.rst b/common/tier4_api_utils/CHANGELOG.rst
index 3129d35f02c38..a6ac6f3cf1e86 100644
--- a/common/tier4_api_utils/CHANGELOG.rst
+++ b/common/tier4_api_utils/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package tier4_api_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/tier4_api_utils/package.xml b/common/tier4_api_utils/package.xml
index 6936fb4034f63..dba6450a338e4 100644
--- a/common/tier4_api_utils/package.xml
+++ b/common/tier4_api_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_api_utils</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The tier4_api_utils package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/tier4_camera_view_rviz_plugin/CHANGELOG.rst b/common/tier4_camera_view_rviz_plugin/CHANGELOG.rst
index e71a8d02bd47e..78b243eedcd85 100644
--- a/common/tier4_camera_view_rviz_plugin/CHANGELOG.rst
+++ b/common/tier4_camera_view_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package tier4_camera_view_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 <https://github.com/autowarefoundation/autoware.universe/issues/9250>`_)
+  * refactor(autoware_ad_api_specs): prefix package and namespace with autoware
+  * style(pre-commit): autofix
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * style(pre-commit): autofix
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/tier4_camera_view_rviz_plugin/package.xml b/common/tier4_camera_view_rviz_plugin/package.xml
index 7c85d9f84871a..0728391e2e1ed 100644
--- a/common/tier4_camera_view_rviz_plugin/package.xml
+++ b/common/tier4_camera_view_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_camera_view_rviz_plugin</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware camera view rviz plugin package</description>
   <maintainer email="uken.ryu@tier4.jp">Yuxuan Liu</maintainer>
   <maintainer email="makoto.ybauta@tier4.jp">Makoto Yabuta</maintainer>
diff --git a/common/tier4_datetime_rviz_plugin/CHANGELOG.rst b/common/tier4_datetime_rviz_plugin/CHANGELOG.rst
index b8341184faaf7..e5e5a9df7ec7f 100644
--- a/common/tier4_datetime_rviz_plugin/CHANGELOG.rst
+++ b/common/tier4_datetime_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package tier4_datetime_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/tier4_datetime_rviz_plugin/package.xml b/common/tier4_datetime_rviz_plugin/package.xml
index ffe95116f9ea3..0a78d7408e3a3 100644
--- a/common/tier4_datetime_rviz_plugin/package.xml
+++ b/common/tier4_datetime_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_datetime_rviz_plugin</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The tier4_datetime_rviz_plugin package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/tier4_localization_rviz_plugin/CHANGELOG.rst b/common/tier4_localization_rviz_plugin/CHANGELOG.rst
index 2a1f10be1ffed..ddbe7b587d9e8 100644
--- a/common/tier4_localization_rviz_plugin/CHANGELOG.rst
+++ b/common/tier4_localization_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package tier4_localization_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/tier4_localization_rviz_plugin/package.xml b/common/tier4_localization_rviz_plugin/package.xml
index 29f5b995bce2b..e5623a25416c2 100644
--- a/common/tier4_localization_rviz_plugin/package.xml
+++ b/common/tier4_localization_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_localization_rviz_plugin</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The tier4_localization_rviz_plugin package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
diff --git a/common/tier4_planning_rviz_plugin/CHANGELOG.rst b/common/tier4_planning_rviz_plugin/CHANGELOG.rst
index c31dc946b12d1..f6ddb9a16283a 100644
--- a/common/tier4_planning_rviz_plugin/CHANGELOG.rst
+++ b/common/tier4_planning_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package tier4_planning_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/tier4_planning_rviz_plugin/package.xml b/common/tier4_planning_rviz_plugin/package.xml
index 43641ce361e43..16dedcb450814 100644
--- a/common/tier4_planning_rviz_plugin/package.xml
+++ b/common/tier4_planning_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_planning_rviz_plugin</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The tier4_planning_rviz_plugin package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/common/tier4_state_rviz_plugin/CHANGELOG.rst b/common/tier4_state_rviz_plugin/CHANGELOG.rst
index 962433de64c70..ac4988a0bff22 100644
--- a/common/tier4_state_rviz_plugin/CHANGELOG.rst
+++ b/common/tier4_state_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package tier4_state_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix: missing dependency in common components (`#9072 <https://github.com/autowarefoundation/autoware.universe/issues/9072>`_)
+* Contributors: Esteve Fernandez, Yutaka Kondo, ぐるぐる
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/tier4_state_rviz_plugin/package.xml b/common/tier4_state_rviz_plugin/package.xml
index 14ad8a22a52e2..19c8c153b89ee 100644
--- a/common/tier4_state_rviz_plugin/package.xml
+++ b/common/tier4_state_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_state_rviz_plugin</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware state rviz plugin package</description>
   <maintainer email="hiroki.ota@tier4.jp">Hiroki OTA</maintainer>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
diff --git a/common/tier4_system_rviz_plugin/CHANGELOG.rst b/common/tier4_system_rviz_plugin/CHANGELOG.rst
index 92178542034c4..f5895ae43b3db 100644
--- a/common/tier4_system_rviz_plugin/CHANGELOG.rst
+++ b/common/tier4_system_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package tier4_system_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/tier4_system_rviz_plugin/package.xml b/common/tier4_system_rviz_plugin/package.xml
index 6b7b089840537..5e6a30689505f 100644
--- a/common/tier4_system_rviz_plugin/package.xml
+++ b/common/tier4_system_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_system_rviz_plugin</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The tier4_vehicle_rviz_plugin package</description>
   <maintainer email="koji.minoda@tier4.jp">Koji Minoda</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/tier4_traffic_light_rviz_plugin/CHANGELOG.rst b/common/tier4_traffic_light_rviz_plugin/CHANGELOG.rst
index b367a66d0357d..46c123392b23e 100644
--- a/common/tier4_traffic_light_rviz_plugin/CHANGELOG.rst
+++ b/common/tier4_traffic_light_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package tier4_traffic_light_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/tier4_traffic_light_rviz_plugin/package.xml b/common/tier4_traffic_light_rviz_plugin/package.xml
index f1e47741e8f0b..6b8718488953a 100644
--- a/common/tier4_traffic_light_rviz_plugin/package.xml
+++ b/common/tier4_traffic_light_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_traffic_light_rviz_plugin</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware state rviz plugin package</description>
   <maintainer email="satoshi.ota@tier4.jp">Satoshi OTA</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/tier4_vehicle_rviz_plugin/CHANGELOG.rst b/common/tier4_vehicle_rviz_plugin/CHANGELOG.rst
index b02695f6f8e17..33c59d1d1c93f 100644
--- a/common/tier4_vehicle_rviz_plugin/CHANGELOG.rst
+++ b/common/tier4_vehicle_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package tier4_vehicle_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix: missing dependency in common components (`#9072 <https://github.com/autowarefoundation/autoware.universe/issues/9072>`_)
+* Contributors: Esteve Fernandez, Yutaka Kondo, ぐるぐる
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/common/tier4_vehicle_rviz_plugin/package.xml b/common/tier4_vehicle_rviz_plugin/package.xml
index b94f1375cee81..0aee4396e6167 100644
--- a/common/tier4_vehicle_rviz_plugin/package.xml
+++ b/common/tier4_vehicle_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_vehicle_rviz_plugin</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The tier4_vehicle_rviz_plugin package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <license>Apache License 2.0</license>
diff --git a/control/autoware_autonomous_emergency_braking/CHANGELOG.rst b/control/autoware_autonomous_emergency_braking/CHANGELOG.rst
index 6e8285c25481d..67fe12fb1243b 100644
--- a/control/autoware_autonomous_emergency_braking/CHANGELOG.rst
+++ b/control/autoware_autonomous_emergency_braking/CHANGELOG.rst
@@ -2,6 +2,47 @@
 Changelog for package autoware_autonomous_emergency_braking
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(control): missing dependency in control components (`#9073 <https://github.com/autowarefoundation/autoware.universe/issues/9073>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 <https://github.com/autowarefoundation/autoware.universe/issues/9180>`_)
+  * first commit
+  * fix building errs.
+  * change diagnostic messages to metric messages for publishing decision.
+  * fix bug about motion_velocity_planner
+  * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner.
+  * tmp save for planning_evaluator
+  * change the topic to which metrics published to.
+  * fix typo.
+  * remove unnesessary publishing of metrics.
+  * mke planning_evaluator publish msg of MetricArray instead of Diags.
+  * update aeb with metric type for decision.
+  * fix some bug
+  * remove autoware_evaluator_utils package.
+  * remove diagnostic_msgs dependency of planning_evaluator
+  * use metric_msgs for autoware_processing_time_checker.
+  * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs.
+  * pre-commit and fix typo
+  * publish metrics even if there is no metric in the MetricArray.
+  * modify the metric name of processing_time.
+  * update unit test for test_planning/control_evaluator
+  * manual pre-commit
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autonomous_emergency_braking): solve issue with arc length (`#9247 <https://github.com/autowarefoundation/autoware.universe/issues/9247>`_)
+  * solve issue with arc length
+  * fix problem with points one vehicle apart from path
+  ---------
+* Contributors: Esteve Fernandez, Kem (TiankuiXian), Yutaka Kondo, danielsanchezaran, ぐるぐる
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/control/autoware_autonomous_emergency_braking/package.xml b/control/autoware_autonomous_emergency_braking/package.xml
index 5fac12cb3e715..bab41a7c634d2 100644
--- a/control/autoware_autonomous_emergency_braking/package.xml
+++ b/control/autoware_autonomous_emergency_braking/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_autonomous_emergency_braking</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>Autonomous Emergency Braking package as a ROS 2 node</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/control/autoware_collision_detector/CHANGELOG.rst b/control/autoware_collision_detector/CHANGELOG.rst
index 3e6f87d08dd6d..4d0f2f9b2c579 100644
--- a/control/autoware_collision_detector/CHANGELOG.rst
+++ b/control/autoware_collision_detector/CHANGELOG.rst
@@ -2,6 +2,26 @@
 Changelog for package autoware_collision_detector
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(collision_detector): skip process when odometry is not published (`#9308 <https://github.com/autowarefoundation/autoware.universe/issues/9308>`_)
+  * subscribe odometry
+  * fix precommit
+  * remove unnecessary log info
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* feat(collision_detector): use polling subscriber (`#9213 <https://github.com/autowarefoundation/autoware.universe/issues/9213>`_)
+  use polling subscriber
+* Contributors: Esteve Fernandez, Go Sakayori, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/control/autoware_collision_detector/package.xml b/control/autoware_collision_detector/package.xml
index ff081e921aef2..e2bdeb7fa9250 100644
--- a/control/autoware_collision_detector/package.xml
+++ b/control/autoware_collision_detector/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_collision_detector</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The collision_detector package</description>
 
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
diff --git a/control/autoware_control_validator/CHANGELOG.rst b/control/autoware_control_validator/CHANGELOG.rst
index 9b57a109b7780..fca1ed1e51184 100644
--- a/control/autoware_control_validator/CHANGELOG.rst
+++ b/control/autoware_control_validator/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package autoware_control_validator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(control): missing dependency in control components (`#9073 <https://github.com/autowarefoundation/autoware.universe/issues/9073>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo, ぐるぐる
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/control/autoware_control_validator/package.xml b/control/autoware_control_validator/package.xml
index fbe759547aba1..24c3daebb6749 100644
--- a/control/autoware_control_validator/package.xml
+++ b/control/autoware_control_validator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_control_validator</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>ros node for autoware_control_validator</description>
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
diff --git a/control/autoware_external_cmd_selector/CHANGELOG.rst b/control/autoware_external_cmd_selector/CHANGELOG.rst
index fee762039a445..85e6e33fae450 100644
--- a/control/autoware_external_cmd_selector/CHANGELOG.rst
+++ b/control/autoware_external_cmd_selector/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_external_cmd_selector
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/control/autoware_external_cmd_selector/package.xml b/control/autoware_external_cmd_selector/package.xml
index 1d69b4eb8e97e..036e293b308df 100644
--- a/control/autoware_external_cmd_selector/package.xml
+++ b/control/autoware_external_cmd_selector/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_external_cmd_selector</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_external_cmd_selector package</description>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/control/autoware_joy_controller/CHANGELOG.rst b/control/autoware_joy_controller/CHANGELOG.rst
index 5e73b2921e356..f0ce6cd9eb030 100644
--- a/control/autoware_joy_controller/CHANGELOG.rst
+++ b/control/autoware_joy_controller/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_joy_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/control/autoware_joy_controller/package.xml b/control/autoware_joy_controller/package.xml
index 3ee880799a025..3d695f995f855 100644
--- a/control/autoware_joy_controller/package.xml
+++ b/control/autoware_joy_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_joy_controller</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_joy_controller package</description>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/control/autoware_lane_departure_checker/CHANGELOG.rst b/control/autoware_lane_departure_checker/CHANGELOG.rst
index 9c8eccb587208..d7f502990a9a2 100644
--- a/control/autoware_lane_departure_checker/CHANGELOG.rst
+++ b/control/autoware_lane_departure_checker/CHANGELOG.rst
@@ -2,6 +2,21 @@
 Changelog for package autoware_lane_departure_checker
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 <https://github.com/autowarefoundation/autoware.universe/issues/9309>`_)
+  speed up by updating polygons
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo, danielsanchezaran
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/control/autoware_lane_departure_checker/package.xml b/control/autoware_lane_departure_checker/package.xml
index c8271f4ef4a6d..70ea7459a2b93 100644
--- a/control/autoware_lane_departure_checker/package.xml
+++ b/control/autoware_lane_departure_checker/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_lane_departure_checker</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_lane_departure_checker package</description>
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
   <maintainer email="makoto.kurihara@tier4.jp">Makoto Kurihara</maintainer>
diff --git a/control/autoware_mpc_lateral_controller/CHANGELOG.rst b/control/autoware_mpc_lateral_controller/CHANGELOG.rst
index 7d32d50b1befd..a361c3aaec161 100644
--- a/control/autoware_mpc_lateral_controller/CHANGELOG.rst
+++ b/control/autoware_mpc_lateral_controller/CHANGELOG.rst
@@ -2,6 +2,24 @@
 Changelog for package autoware_mpc_lateral_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(autoware_mpc_lateral_controller): fix bugprone-misplaced-widening-cast (`#9224 <https://github.com/autowarefoundation/autoware.universe/issues/9224>`_)
+  * fix: bugprone-misplaced-widening-cast
+  * fix: consider negative values
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (`#9199 <https://github.com/autowarefoundation/autoware.universe/issues/9199>`_)
+* Contributors: Esteve Fernandez, Maxime CLEMENT, Yutaka Kondo, kobayu858
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/control/autoware_mpc_lateral_controller/package.xml b/control/autoware_mpc_lateral_controller/package.xml
index a965343ad3e98..d8bb14d211bf8 100644
--- a/control/autoware_mpc_lateral_controller/package.xml
+++ b/control/autoware_mpc_lateral_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_mpc_lateral_controller</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>MPC-based lateral controller</description>
 
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
diff --git a/control/autoware_obstacle_collision_checker/CHANGELOG.rst b/control/autoware_obstacle_collision_checker/CHANGELOG.rst
index 5cca4c07048b1..05e5b2d4190d7 100644
--- a/control/autoware_obstacle_collision_checker/CHANGELOG.rst
+++ b/control/autoware_obstacle_collision_checker/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_obstacle_collision_checker
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/control/autoware_obstacle_collision_checker/package.xml b/control/autoware_obstacle_collision_checker/package.xml
index 01200e9c77bc3..66df5e98bf57d 100644
--- a/control/autoware_obstacle_collision_checker/package.xml
+++ b/control/autoware_obstacle_collision_checker/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_obstacle_collision_checker</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The obstacle_collision_checker package</description>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/control/autoware_operation_mode_transition_manager/CHANGELOG.rst b/control/autoware_operation_mode_transition_manager/CHANGELOG.rst
index 3412c651fc4a7..af99c3781459a 100644
--- a/control/autoware_operation_mode_transition_manager/CHANGELOG.rst
+++ b/control/autoware_operation_mode_transition_manager/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package autoware_operation_mode_transition_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/control/autoware_operation_mode_transition_manager/package.xml b/control/autoware_operation_mode_transition_manager/package.xml
index 98e216a1b96ec..7a0d6977a3e8f 100644
--- a/control/autoware_operation_mode_transition_manager/package.xml
+++ b/control/autoware_operation_mode_transition_manager/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>autoware_operation_mode_transition_manager</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The operation_mode_transition_manager package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/control/autoware_pid_longitudinal_controller/CHANGELOG.rst b/control/autoware_pid_longitudinal_controller/CHANGELOG.rst
index b246fe3593ad5..57e2ce30aff35 100644
--- a/control/autoware_pid_longitudinal_controller/CHANGELOG.rst
+++ b/control/autoware_pid_longitudinal_controller/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_pid_longitudinal_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/control/autoware_pid_longitudinal_controller/package.xml b/control/autoware_pid_longitudinal_controller/package.xml
index b4bf580e133e7..88f8abaf225e8 100644
--- a/control/autoware_pid_longitudinal_controller/package.xml
+++ b/control/autoware_pid_longitudinal_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_pid_longitudinal_controller</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>PID-based longitudinal controller</description>
 
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
diff --git a/control/autoware_pure_pursuit/CHANGELOG.rst b/control/autoware_pure_pursuit/CHANGELOG.rst
index 2c60203858a32..df0b7df3a9e52 100644
--- a/control/autoware_pure_pursuit/CHANGELOG.rst
+++ b/control/autoware_pure_pursuit/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package autoware_pure_pursuit
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_pure_pursuit): fix cppcheck unusedFunction (`#9276 <https://github.com/autowarefoundation/autoware.universe/issues/9276>`_)
+* Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/control/autoware_pure_pursuit/package.xml b/control/autoware_pure_pursuit/package.xml
index 55fdac624f0d7..03c46dbc22bb6 100644
--- a/control/autoware_pure_pursuit/package.xml
+++ b/control/autoware_pure_pursuit/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_pure_pursuit</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The pure_pursuit package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/control/autoware_shift_decider/CHANGELOG.rst b/control/autoware_shift_decider/CHANGELOG.rst
index 032398006ac94..72257774b4763 100644
--- a/control/autoware_shift_decider/CHANGELOG.rst
+++ b/control/autoware_shift_decider/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_shift_decider
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/control/autoware_shift_decider/package.xml b/control/autoware_shift_decider/package.xml
index f63b811d2eaf9..75b11dfcd8379 100644
--- a/control/autoware_shift_decider/package.xml
+++ b/control/autoware_shift_decider/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_shift_decider</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_shift_decider package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst b/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst
index ab53787cae6e0..34bb120a2752c 100644
--- a/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst
+++ b/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_smart_mpc_trajectory_follower
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/control/autoware_smart_mpc_trajectory_follower/package.xml b/control/autoware_smart_mpc_trajectory_follower/package.xml
index ca8331eaae9a9..fb70eb05d21e5 100644
--- a/control/autoware_smart_mpc_trajectory_follower/package.xml
+++ b/control/autoware_smart_mpc_trajectory_follower/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_smart_mpc_trajectory_follower</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>Nodes to follow a trajectory by generating control commands using smart mpc</description>
 
   <!-- mpc longitudinal controller -->
diff --git a/control/autoware_trajectory_follower_base/CHANGELOG.rst b/control/autoware_trajectory_follower_base/CHANGELOG.rst
index 9b52928f063bd..9182dabfe66a6 100644
--- a/control/autoware_trajectory_follower_base/CHANGELOG.rst
+++ b/control/autoware_trajectory_follower_base/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_trajectory_follower_base
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/control/autoware_trajectory_follower_base/package.xml b/control/autoware_trajectory_follower_base/package.xml
index 663648950258c..32bf2b1f1a809 100644
--- a/control/autoware_trajectory_follower_base/package.xml
+++ b/control/autoware_trajectory_follower_base/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_trajectory_follower_base</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>Library for generating lateral and longitudinal controls following a trajectory</description>
 
   <!-- mpc longitudinal controller -->
diff --git a/control/autoware_trajectory_follower_node/CHANGELOG.rst b/control/autoware_trajectory_follower_node/CHANGELOG.rst
index cda983ab27d89..fad7a121bb624 100644
--- a/control/autoware_trajectory_follower_node/CHANGELOG.rst
+++ b/control/autoware_trajectory_follower_node/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package autoware_trajectory_follower_node
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(control): missing dependency in control components (`#9073 <https://github.com/autowarefoundation/autoware.universe/issues/9073>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo, ぐるぐる
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/control/autoware_trajectory_follower_node/package.xml b/control/autoware_trajectory_follower_node/package.xml
index 86a2592ebf5f4..e4000feef9474 100644
--- a/control/autoware_trajectory_follower_node/package.xml
+++ b/control/autoware_trajectory_follower_node/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_trajectory_follower_node</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>Nodes to follow a trajectory by generating control commands separated into lateral and longitudinal commands</description>
 
   <!-- mpc longitudinal controller -->
diff --git a/control/autoware_vehicle_cmd_gate/CHANGELOG.rst b/control/autoware_vehicle_cmd_gate/CHANGELOG.rst
index 20fc77c4cda55..ce6420fa69b76 100644
--- a/control/autoware_vehicle_cmd_gate/CHANGELOG.rst
+++ b/control/autoware_vehicle_cmd_gate/CHANGELOG.rst
@@ -2,6 +2,22 @@
 Changelog for package autoware_vehicle_cmd_gate
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(control): missing dependency in control components (`#9073 <https://github.com/autowarefoundation/autoware.universe/issues/9073>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(vehicle_cmd_gate): fix processing time measurement (`#9260 <https://github.com/autowarefoundation/autoware.universe/issues/9260>`_)
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Maxime CLEMENT, Yutaka Kondo, ぐるぐる
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/control/autoware_vehicle_cmd_gate/package.xml b/control/autoware_vehicle_cmd_gate/package.xml
index a5026a0edb3ef..3253f5a498933 100644
--- a/control/autoware_vehicle_cmd_gate/package.xml
+++ b/control/autoware_vehicle_cmd_gate/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_vehicle_cmd_gate</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The vehicle_cmd_gate package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/control/control_performance_analysis/CHANGELOG.rst b/control/control_performance_analysis/CHANGELOG.rst
index cfe98a0e66275..f32fbe5cb0b1c 100644
--- a/control/control_performance_analysis/CHANGELOG.rst
+++ b/control/control_performance_analysis/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package control_performance_analysis
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/control/control_performance_analysis/package.xml b/control/control_performance_analysis/package.xml
index 203357d3f0474..49b8f69570bb4 100644
--- a/control/control_performance_analysis/package.xml
+++ b/control/control_performance_analysis/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>control_performance_analysis</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>Controller Performance Evaluation</description>
   <maintainer email="berkay@leodrive.ai">Berkay Karaman</maintainer>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
diff --git a/control/predicted_path_checker/CHANGELOG.rst b/control/predicted_path_checker/CHANGELOG.rst
index b2dbfa706eedc..15418d84cba3a 100644
--- a/control/predicted_path_checker/CHANGELOG.rst
+++ b/control/predicted_path_checker/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package predicted_path_checker
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/control/predicted_path_checker/package.xml b/control/predicted_path_checker/package.xml
index cfa2a23be92da..f23828f8a586c 100644
--- a/control/predicted_path_checker/package.xml
+++ b/control/predicted_path_checker/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>predicted_path_checker</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The predicted_path_checker package</description>
 
   <maintainer email="berkay@leodrive.ai">Berkay Karaman</maintainer>
diff --git a/evaluator/autoware_control_evaluator/CHANGELOG.rst b/evaluator/autoware_control_evaluator/CHANGELOG.rst
index 2469aea0deca1..e67a53de4656a 100644
--- a/evaluator/autoware_control_evaluator/CHANGELOG.rst
+++ b/evaluator/autoware_control_evaluator/CHANGELOG.rst
@@ -2,6 +2,46 @@
 Changelog for package autoware_control_evaluator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* test(autoware_control_evaluator): add unit test for utils autoware_control_evaluator (`#9307 <https://github.com/autowarefoundation/autoware.universe/issues/9307>`_)
+  * update unit test of control_evaluator.
+  * manual pre-commit.
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 <https://github.com/autowarefoundation/autoware.universe/issues/9180>`_)
+  * first commit
+  * fix building errs.
+  * change diagnostic messages to metric messages for publishing decision.
+  * fix bug about motion_velocity_planner
+  * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner.
+  * tmp save for planning_evaluator
+  * change the topic to which metrics published to.
+  * fix typo.
+  * remove unnesessary publishing of metrics.
+  * mke planning_evaluator publish msg of MetricArray instead of Diags.
+  * update aeb with metric type for decision.
+  * fix some bug
+  * remove autoware_evaluator_utils package.
+  * remove diagnostic_msgs dependency of planning_evaluator
+  * use metric_msgs for autoware_processing_time_checker.
+  * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs.
+  * pre-commit and fix typo
+  * publish metrics even if there is no metric in the MetricArray.
+  * modify the metric name of processing_time.
+  * update unit test for test_planning/control_evaluator
+  * manual pre-commit
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Kem (TiankuiXian), Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/evaluator/autoware_control_evaluator/package.xml b/evaluator/autoware_control_evaluator/package.xml
index 1c724fc7bd0ec..473f3bff7257e 100644
--- a/evaluator/autoware_control_evaluator/package.xml
+++ b/evaluator/autoware_control_evaluator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_control_evaluator</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>ROS 2 node for evaluating control</description>
   <maintainer email="daniel.sanchez@tier4.jp">Daniel SANCHEZ</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">takayuki MUROOKA</maintainer>
diff --git a/evaluator/autoware_planning_evaluator/CHANGELOG.rst b/evaluator/autoware_planning_evaluator/CHANGELOG.rst
index cf4aaf2e7fc94..9dc854ae8d623 100644
--- a/evaluator/autoware_planning_evaluator/CHANGELOG.rst
+++ b/evaluator/autoware_planning_evaluator/CHANGELOG.rst
@@ -2,6 +2,42 @@
 Changelog for package autoware_planning_evaluator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 <https://github.com/autowarefoundation/autoware.universe/issues/9180>`_)
+  * first commit
+  * fix building errs.
+  * change diagnostic messages to metric messages for publishing decision.
+  * fix bug about motion_velocity_planner
+  * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner.
+  * tmp save for planning_evaluator
+  * change the topic to which metrics published to.
+  * fix typo.
+  * remove unnesessary publishing of metrics.
+  * mke planning_evaluator publish msg of MetricArray instead of Diags.
+  * update aeb with metric type for decision.
+  * fix some bug
+  * remove autoware_evaluator_utils package.
+  * remove diagnostic_msgs dependency of planning_evaluator
+  * use metric_msgs for autoware_processing_time_checker.
+  * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs.
+  * pre-commit and fix typo
+  * publish metrics even if there is no metric in the MetricArray.
+  * modify the metric name of processing_time.
+  * update unit test for test_planning/control_evaluator
+  * manual pre-commit
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Kem (TiankuiXian), Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/evaluator/autoware_planning_evaluator/package.xml b/evaluator/autoware_planning_evaluator/package.xml
index 827784f71a823..09c8a17a8d791 100644
--- a/evaluator/autoware_planning_evaluator/package.xml
+++ b/evaluator/autoware_planning_evaluator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_planning_evaluator</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>ROS 2 node for evaluating planners</description>
   <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
diff --git a/evaluator/kinematic_evaluator/CHANGELOG.rst b/evaluator/kinematic_evaluator/CHANGELOG.rst
index ceacbcf0b129d..da5509f14143e 100644
--- a/evaluator/kinematic_evaluator/CHANGELOG.rst
+++ b/evaluator/kinematic_evaluator/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package kinematic_evaluator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/evaluator/kinematic_evaluator/package.xml b/evaluator/kinematic_evaluator/package.xml
index 99254d06d0642..ab01f15c3c154 100644
--- a/evaluator/kinematic_evaluator/package.xml
+++ b/evaluator/kinematic_evaluator/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>kinematic_evaluator</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>kinematic evaluator ROS 2 node</description>
 
   <maintainer email="dominik.jargot@robotec.ai">Dominik Jargot</maintainer>
diff --git a/evaluator/localization_evaluator/CHANGELOG.rst b/evaluator/localization_evaluator/CHANGELOG.rst
index 62f63139999e2..7438643fe19a6 100644
--- a/evaluator/localization_evaluator/CHANGELOG.rst
+++ b/evaluator/localization_evaluator/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package localization_evaluator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/evaluator/localization_evaluator/package.xml b/evaluator/localization_evaluator/package.xml
index b9d6285a0f08c..a38871a1af6a2 100644
--- a/evaluator/localization_evaluator/package.xml
+++ b/evaluator/localization_evaluator/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>localization_evaluator</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>localization evaluator ROS 2 node</description>
 
   <maintainer email="dominik.jargot@robotec.ai">Dominik Jargot</maintainer>
diff --git a/evaluator/perception_online_evaluator/CHANGELOG.rst b/evaluator/perception_online_evaluator/CHANGELOG.rst
index 643dec851d0fa..f3e999f66ee0e 100644
--- a/evaluator/perception_online_evaluator/CHANGELOG.rst
+++ b/evaluator/perception_online_evaluator/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package perception_online_evaluator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/evaluator/perception_online_evaluator/package.xml b/evaluator/perception_online_evaluator/package.xml
index 1e7c0a7d128e6..bebc46457807e 100644
--- a/evaluator/perception_online_evaluator/package.xml
+++ b/evaluator/perception_online_evaluator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>perception_online_evaluator</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>ROS 2 node for evaluating perception</description>
   <maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
diff --git a/evaluator/scenario_simulator_v2_adapter/package.xml b/evaluator/scenario_simulator_v2_adapter/package.xml
index ae6b49671a774..45c4f91c0eb83 100644
--- a/evaluator/scenario_simulator_v2_adapter/package.xml
+++ b/evaluator/scenario_simulator_v2_adapter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>scenario_simulator_v2_adapter</name>
-  <version>0.5.6</version>
+  <version>0.39.0</version>
   <description>Node for converting autoware's messages into UserDefinedValue messages</description>
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
   <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
diff --git a/launch/tier4_autoware_api_launch/CHANGELOG.rst b/launch/tier4_autoware_api_launch/CHANGELOG.rst
index c4dc5fba123fb..38825528d8c39 100644
--- a/launch/tier4_autoware_api_launch/CHANGELOG.rst
+++ b/launch/tier4_autoware_api_launch/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package tier4_autoware_api_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/launch/tier4_autoware_api_launch/package.xml b/launch/tier4_autoware_api_launch/package.xml
index 2af274907306a..4b52acbc8d804 100644
--- a/launch/tier4_autoware_api_launch/package.xml
+++ b/launch/tier4_autoware_api_launch/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_autoware_api_launch</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The tier4_autoware_api_launch package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
diff --git a/launch/tier4_control_launch/CHANGELOG.rst b/launch/tier4_control_launch/CHANGELOG.rst
index 11f7420e9e513..cbe41dcd85828 100644
--- a/launch/tier4_control_launch/CHANGELOG.rst
+++ b/launch/tier4_control_launch/CHANGELOG.rst
@@ -2,6 +2,33 @@
 Changelog for package tier4_control_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(collision_detector): skip process when odometry is not published (`#9308 <https://github.com/autowarefoundation/autoware.universe/issues/9308>`_)
+  * subscribe odometry
+  * fix precommit
+  * remove unnecessary log info
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* feat(aeb): set global param to override autoware state check (`#9263 <https://github.com/autowarefoundation/autoware.universe/issues/9263>`_)
+  * set global param to override autoware state check
+  * change variable to be more general
+  * add comment
+  * move param to control component launch
+  * change param name to be more straightforward
+  ---------
+* feat(control_launch): add collision detector in launch (`#9214 <https://github.com/autowarefoundation/autoware.universe/issues/9214>`_)
+  add collision detector in launch
+* Contributors: Esteve Fernandez, Go Sakayori, Yutaka Kondo, danielsanchezaran
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/launch/tier4_control_launch/package.xml b/launch/tier4_control_launch/package.xml
index a6a57e0b02716..09eb3302c7811 100644
--- a/launch/tier4_control_launch/package.xml
+++ b/launch/tier4_control_launch/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_control_launch</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The tier4_control_launch package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/launch/tier4_localization_launch/CHANGELOG.rst b/launch/tier4_localization_launch/CHANGELOG.rst
index b7d0b8cf8169d..21cf37981a40a 100644
--- a/launch/tier4_localization_launch/CHANGELOG.rst
+++ b/launch/tier4_localization_launch/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package tier4_localization_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml
index 89627ad420afc..66d2a3277f505 100644
--- a/launch/tier4_localization_launch/package.xml
+++ b/launch/tier4_localization_launch/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_localization_launch</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The tier4_localization_launch package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
diff --git a/launch/tier4_map_launch/CHANGELOG.rst b/launch/tier4_map_launch/CHANGELOG.rst
index e1ee86c71fc15..11f8aeb97cda3 100644
--- a/launch/tier4_map_launch/CHANGELOG.rst
+++ b/launch/tier4_map_launch/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package tier4_map_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/launch/tier4_map_launch/package.xml b/launch/tier4_map_launch/package.xml
index a5120987605f5..91874321b5db0 100644
--- a/launch/tier4_map_launch/package.xml
+++ b/launch/tier4_map_launch/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_map_launch</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The tier4_map_launch package</description>
   <maintainer email="ryu.yamamoto@tier4.jp">Ryu Yamamoto</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
diff --git a/launch/tier4_perception_launch/CHANGELOG.rst b/launch/tier4_perception_launch/CHANGELOG.rst
index b0cb6c69d6892..412665dab796f 100644
--- a/launch/tier4_perception_launch/CHANGELOG.rst
+++ b/launch/tier4_perception_launch/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package tier4_perception_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml
index 22c664b998a2c..7b705d4b74f78 100644
--- a/launch/tier4_perception_launch/package.xml
+++ b/launch/tier4_perception_launch/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_perception_launch</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The tier4_perception_launch package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/launch/tier4_planning_launch/CHANGELOG.rst b/launch/tier4_planning_launch/CHANGELOG.rst
index c66ad480472ca..2641162594a74 100644
--- a/launch/tier4_planning_launch/CHANGELOG.rst
+++ b/launch/tier4_planning_launch/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package tier4_planning_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml
index 7f181d6d707b6..286e09a2f17ed 100644
--- a/launch/tier4_planning_launch/package.xml
+++ b/launch/tier4_planning_launch/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_planning_launch</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The tier4_planning_launch package</description>
   <!-- behavior path planner -->
   <!-- lane change module -->
diff --git a/launch/tier4_sensing_launch/CHANGELOG.rst b/launch/tier4_sensing_launch/CHANGELOG.rst
index be5bb4dd8fce6..7e1b9756effdd 100644
--- a/launch/tier4_sensing_launch/CHANGELOG.rst
+++ b/launch/tier4_sensing_launch/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package tier4_sensing_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/launch/tier4_sensing_launch/package.xml b/launch/tier4_sensing_launch/package.xml
index d4e03219b2299..12194a163e0f1 100644
--- a/launch/tier4_sensing_launch/package.xml
+++ b/launch/tier4_sensing_launch/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_sensing_launch</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The tier4_sensing_launch package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <license>Apache License 2.0</license>
diff --git a/launch/tier4_simulator_launch/CHANGELOG.rst b/launch/tier4_simulator_launch/CHANGELOG.rst
index 14927284d98a7..46aa2059dea76 100644
--- a/launch/tier4_simulator_launch/CHANGELOG.rst
+++ b/launch/tier4_simulator_launch/CHANGELOG.rst
@@ -2,6 +2,42 @@
 Changelog for package tier4_simulator_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 <https://github.com/autowarefoundation/autoware.universe/issues/9180>`_)
+  * first commit
+  * fix building errs.
+  * change diagnostic messages to metric messages for publishing decision.
+  * fix bug about motion_velocity_planner
+  * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner.
+  * tmp save for planning_evaluator
+  * change the topic to which metrics published to.
+  * fix typo.
+  * remove unnesessary publishing of metrics.
+  * mke planning_evaluator publish msg of MetricArray instead of Diags.
+  * update aeb with metric type for decision.
+  * fix some bug
+  * remove autoware_evaluator_utils package.
+  * remove diagnostic_msgs dependency of planning_evaluator
+  * use metric_msgs for autoware_processing_time_checker.
+  * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs.
+  * pre-commit and fix typo
+  * publish metrics even if there is no metric in the MetricArray.
+  * modify the metric name of processing_time.
+  * update unit test for test_planning/control_evaluator
+  * manual pre-commit
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Kem (TiankuiXian), Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/launch/tier4_simulator_launch/package.xml b/launch/tier4_simulator_launch/package.xml
index 6452241dc3f72..b61954dcc297d 100644
--- a/launch/tier4_simulator_launch/package.xml
+++ b/launch/tier4_simulator_launch/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_simulator_launch</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The tier4_simulator_launch package</description>
   <maintainer email="keisuke.shima@tier4.jp">Keisuke Shima</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/launch/tier4_system_launch/CHANGELOG.rst b/launch/tier4_system_launch/CHANGELOG.rst
index d42dea8eb7b24..26f1031652d54 100644
--- a/launch/tier4_system_launch/CHANGELOG.rst
+++ b/launch/tier4_system_launch/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package tier4_system_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/launch/tier4_system_launch/package.xml b/launch/tier4_system_launch/package.xml
index 6d335269f734d..92bee6d1d3e86 100644
--- a/launch/tier4_system_launch/package.xml
+++ b/launch/tier4_system_launch/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_system_launch</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The tier4_system_launch package</description>
   <maintainer email="fumihito.ito@tier4.jp">Fumihito Ito</maintainer>
   <maintainer email="tetsuhiro.kawaguchi@tier4.jp">TetsuKawa</maintainer>
diff --git a/launch/tier4_vehicle_launch/CHANGELOG.rst b/launch/tier4_vehicle_launch/CHANGELOG.rst
index dfd9f0759abfc..4823ed84f46f6 100644
--- a/launch/tier4_vehicle_launch/CHANGELOG.rst
+++ b/launch/tier4_vehicle_launch/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package tier4_vehicle_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/launch/tier4_vehicle_launch/package.xml b/launch/tier4_vehicle_launch/package.xml
index 9a8c03c62a7b3..ab3e7483c8593 100644
--- a/launch/tier4_vehicle_launch/package.xml
+++ b/launch/tier4_vehicle_launch/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_vehicle_launch</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The tier4_vehicle_launch package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <license>Apache License 2.0</license>
diff --git a/localization/autoware_ekf_localizer/CHANGELOG.rst b/localization/autoware_ekf_localizer/CHANGELOG.rst
index bce88cb58f6c5..369a731d87ee6 100644
--- a/localization/autoware_ekf_localizer/CHANGELOG.rst
+++ b/localization/autoware_ekf_localizer/CHANGELOG.rst
@@ -2,6 +2,21 @@
 Changelog for package autoware_ekf_localizer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_ekf_localizer): remove `timer_tf\_` (`#9244 <https://github.com/autowarefoundation/autoware.universe/issues/9244>`_)
+  Removed timer_tf\_
+* Contributors: Esteve Fernandez, SakodaShintaro, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/localization/autoware_ekf_localizer/package.xml b/localization/autoware_ekf_localizer/package.xml
index c9abefcd5e849..d93b4eb1ff016 100644
--- a/localization/autoware_ekf_localizer/package.xml
+++ b/localization/autoware_ekf_localizer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_ekf_localizer</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_ekf_localizer package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
diff --git a/localization/autoware_geo_pose_projector/CHANGELOG.rst b/localization/autoware_geo_pose_projector/CHANGELOG.rst
index 41729bbef184c..717118a5c1692 100644
--- a/localization/autoware_geo_pose_projector/CHANGELOG.rst
+++ b/localization/autoware_geo_pose_projector/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package autoware_geo_pose_projector
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/localization/autoware_geo_pose_projector/package.xml b/localization/autoware_geo_pose_projector/package.xml
index 7425b964a0d5d..4fecd89630e01 100644
--- a/localization/autoware_geo_pose_projector/package.xml
+++ b/localization/autoware_geo_pose_projector/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_geo_pose_projector</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_geo_pose_projector package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/autoware_gyro_odometer/CHANGELOG.rst b/localization/autoware_gyro_odometer/CHANGELOG.rst
index b2a293af33018..950fd01b2ce6f 100644
--- a/localization/autoware_gyro_odometer/CHANGELOG.rst
+++ b/localization/autoware_gyro_odometer/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_gyro_odometer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/localization/autoware_gyro_odometer/package.xml b/localization/autoware_gyro_odometer/package.xml
index 41626e3f8c70b..b546312ef729e 100644
--- a/localization/autoware_gyro_odometer/package.xml
+++ b/localization/autoware_gyro_odometer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_gyro_odometer</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_gyro_odometer package as a ROS 2 node</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst
index d74b537c50fdd..e8cc6d9f2796e 100644
--- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst
+++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_ar_tag_based_localizer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml
index 4ff6c0c9ca9b1..c0ee5cf973001 100644
--- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml
+++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_ar_tag_based_localizer</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_ar_tag_based_localizer package</description>
   <maintainer email="shintaro.sakoda@tier4.jp">Shintaro Sakoda</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst
index 1c08781d5e233..e50f441c27ca5 100644
--- a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst
+++ b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_landmark_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml
index a5250d6c81afc..357fc2b9eb32c 100644
--- a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml
+++ b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_landmark_manager</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_landmark_manager package</description>
   <maintainer email="shintaro.sakoda@tier4.jp">Shintaro Sakoda</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst
index 4d154f8e365f9..374bdd1f09901 100644
--- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst
+++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_lidar_marker_localizer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml
index 91976ab1a74e1..72bded6b2b416 100755
--- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml
+++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_lidar_marker_localizer</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_lidar_marker_localizer package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="shintaro.sakoda@tier4.jp">Shintaro Sakoda</maintainer>
diff --git a/localization/autoware_localization_error_monitor/CHANGELOG.rst b/localization/autoware_localization_error_monitor/CHANGELOG.rst
index d24c1d7ac4bce..ba263d0f8cb42 100644
--- a/localization/autoware_localization_error_monitor/CHANGELOG.rst
+++ b/localization/autoware_localization_error_monitor/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_localization_error_monitor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/localization/autoware_localization_error_monitor/package.xml b/localization/autoware_localization_error_monitor/package.xml
index e07445b878d9c..937d4e71bc717 100644
--- a/localization/autoware_localization_error_monitor/package.xml
+++ b/localization/autoware_localization_error_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_localization_error_monitor</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>ros node for monitoring localization error</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/autoware_localization_util/CHANGELOG.rst b/localization/autoware_localization_util/CHANGELOG.rst
index 7dae713216362..d029d05144595 100644
--- a/localization/autoware_localization_util/CHANGELOG.rst
+++ b/localization/autoware_localization_util/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_localization_util
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/localization/autoware_localization_util/package.xml b/localization/autoware_localization_util/package.xml
index 49330e04c8b2f..ea22ffe59ce64 100644
--- a/localization/autoware_localization_util/package.xml
+++ b/localization/autoware_localization_util/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_localization_util</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_localization_util package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/autoware_ndt_scan_matcher/CHANGELOG.rst b/localization/autoware_ndt_scan_matcher/CHANGELOG.rst
index 36b7becac9be0..096804e155328 100644
--- a/localization/autoware_ndt_scan_matcher/CHANGELOG.rst
+++ b/localization/autoware_ndt_scan_matcher/CHANGELOG.rst
@@ -2,6 +2,56 @@
 Changelog for package autoware_ndt_scan_matcher
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* perf(autoware_ndt_scan_matcher): remove evecs\_, evals\_ of Leaf for memory efficiency (`#9281 <https://github.com/autowarefoundation/autoware.universe/issues/9281>`_)
+  * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 <https://github.com/autowarefoundation/autoware.universe/issues/9279>`_)
+  fix computation of maximum lane changing length threshold
+  * perf: remove evecs, evals from Leaf
+  * perf: remove evecs, evals from Leaf
+  ---------
+  Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_ndt_scan_matcher): fix cppcheck unusedFunction (`#9275 <https://github.com/autowarefoundation/autoware.universe/issues/9275>`_)
+* fix(autoware_ndt_scan_matcher): reduce initial_pose_estimation.particles_num from 200 to 100 on tests (`#9218 <https://github.com/autowarefoundation/autoware.universe/issues/9218>`_)
+  Reduced initial_pose_estimation.particles_num from 200 to 100 on tests
+* refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 <https://github.com/autowarefoundation/autoware.universe/issues/8912>`_)
+  * Moved ndt_omp into ndt_scan_matcher
+  * Added Copyright
+  * style(pre-commit): autofix
+  * Fixed include
+  * Fixed cast style
+  * Fixed include
+  * Fixed honorific title
+  * Fixed honorific title
+  * style(pre-commit): autofix
+  * Fixed include hierarchy
+  * style(pre-commit): autofix
+  * Fixed include hierarchy
+  * style(pre-commit): autofix
+  * Fixed hierarchy
+  * Fixed NVTP to NVTL
+  * Added cspell:ignore
+  * Fixed miss spell
+  * style(pre-commit): autofix
+  * Fixed include
+  * Renamed applyFilter
+  * Moved ***_impl.hpp from include/ to src/
+  * style(pre-commit): autofix
+  * Fixed variable scope
+  * Fixed to pass by reference
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* Contributors: Esteve Fernandez, Kento Osa, Ryuta Kambe, SakodaShintaro, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/localization/autoware_ndt_scan_matcher/package.xml b/localization/autoware_ndt_scan_matcher/package.xml
index 9e5b3dabbbc27..96c73f248a595 100644
--- a/localization/autoware_ndt_scan_matcher/package.xml
+++ b/localization/autoware_ndt_scan_matcher/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_ndt_scan_matcher</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_ndt_scan_matcher package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
diff --git a/localization/autoware_pose2twist/CHANGELOG.rst b/localization/autoware_pose2twist/CHANGELOG.rst
index 653daf8d9a34c..dcabfddfd2256 100644
--- a/localization/autoware_pose2twist/CHANGELOG.rst
+++ b/localization/autoware_pose2twist/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_pose2twist
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/localization/autoware_pose2twist/package.xml b/localization/autoware_pose2twist/package.xml
index 74ae9b8a10de7..9e7ec378c8570 100644
--- a/localization/autoware_pose2twist/package.xml
+++ b/localization/autoware_pose2twist/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_pose2twist</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_pose2twist package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/autoware_pose_covariance_modifier/CHANGELOG.rst b/localization/autoware_pose_covariance_modifier/CHANGELOG.rst
index e59dee39371e3..b3c5fdc70f36a 100644
--- a/localization/autoware_pose_covariance_modifier/CHANGELOG.rst
+++ b/localization/autoware_pose_covariance_modifier/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_pose_covariance_modifier
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/localization/autoware_pose_covariance_modifier/package.xml b/localization/autoware_pose_covariance_modifier/package.xml
index 2c0f9ae142370..2490fdc43dc0a 100644
--- a/localization/autoware_pose_covariance_modifier/package.xml
+++ b/localization/autoware_pose_covariance_modifier/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_pose_covariance_modifier</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>Add a description.</description>
 
   <maintainer email="melike@leodrive.ai">Melike Tanrikulu</maintainer>
diff --git a/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst b/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst
index 37bf54b3d27ee..423a73677c311 100644
--- a/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst
+++ b/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_pose_estimator_arbiter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/localization/autoware_pose_estimator_arbiter/package.xml b/localization/autoware_pose_estimator_arbiter/package.xml
index adf90c534ef8f..cf30e8fcb5ef6 100644
--- a/localization/autoware_pose_estimator_arbiter/package.xml
+++ b/localization/autoware_pose_estimator_arbiter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_pose_estimator_arbiter</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The arbiter of multiple pose estimators</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
diff --git a/localization/autoware_pose_initializer/CHANGELOG.rst b/localization/autoware_pose_initializer/CHANGELOG.rst
index c6986a26a3d20..ca509039af804 100644
--- a/localization/autoware_pose_initializer/CHANGELOG.rst
+++ b/localization/autoware_pose_initializer/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package autoware_pose_initializer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/localization/autoware_pose_initializer/package.xml b/localization/autoware_pose_initializer/package.xml
index 99e2c55c312f2..e23a319e2ac2b 100644
--- a/localization/autoware_pose_initializer/package.xml
+++ b/localization/autoware_pose_initializer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_pose_initializer</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_pose_initializer package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
diff --git a/localization/autoware_pose_instability_detector/CHANGELOG.rst b/localization/autoware_pose_instability_detector/CHANGELOG.rst
index f81c3c36e8b90..a02f1443d97e1 100644
--- a/localization/autoware_pose_instability_detector/CHANGELOG.rst
+++ b/localization/autoware_pose_instability_detector/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_pose_instability_detector
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/localization/autoware_pose_instability_detector/package.xml b/localization/autoware_pose_instability_detector/package.xml
index d3d7cc81166b6..2c982e30ca8d8 100644
--- a/localization/autoware_pose_instability_detector/package.xml
+++ b/localization/autoware_pose_instability_detector/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_pose_instability_detector</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_pose_instability_detector package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
diff --git a/localization/autoware_stop_filter/CHANGELOG.rst b/localization/autoware_stop_filter/CHANGELOG.rst
index 94aa8719318f5..30e5b6169c154 100644
--- a/localization/autoware_stop_filter/CHANGELOG.rst
+++ b/localization/autoware_stop_filter/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_stop_filter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/localization/autoware_stop_filter/package.xml b/localization/autoware_stop_filter/package.xml
index 499cb49af41a5..07ad7288c9d63 100644
--- a/localization/autoware_stop_filter/package.xml
+++ b/localization/autoware_stop_filter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_stop_filter</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The stop filter package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/autoware_twist2accel/CHANGELOG.rst b/localization/autoware_twist2accel/CHANGELOG.rst
index 1f6228b9b5f62..ea50813677005 100644
--- a/localization/autoware_twist2accel/CHANGELOG.rst
+++ b/localization/autoware_twist2accel/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_twist2accel
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/localization/autoware_twist2accel/package.xml b/localization/autoware_twist2accel/package.xml
index ac40f9b43bc90..538a75f8f9474 100644
--- a/localization/autoware_twist2accel/package.xml
+++ b/localization/autoware_twist2accel/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_twist2accel</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The acceleration estimation package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/yabloc/yabloc_common/CHANGELOG.rst b/localization/yabloc/yabloc_common/CHANGELOG.rst
index 936f230220d86..7cdbceeb5a6a5 100644
--- a/localization/yabloc/yabloc_common/CHANGELOG.rst
+++ b/localization/yabloc/yabloc_common/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package yabloc_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/localization/yabloc/yabloc_common/package.xml b/localization/yabloc/yabloc_common/package.xml
index 7bcf4084073c4..01b5a92745c3f 100644
--- a/localization/yabloc/yabloc_common/package.xml
+++ b/localization/yabloc/yabloc_common/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>yabloc_common</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>YabLoc common library</description>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/yabloc/yabloc_image_processing/CHANGELOG.rst b/localization/yabloc/yabloc_image_processing/CHANGELOG.rst
index b3b0eab9847b4..f6e619c8a62a6 100644
--- a/localization/yabloc/yabloc_image_processing/CHANGELOG.rst
+++ b/localization/yabloc/yabloc_image_processing/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package yabloc_image_processing
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/localization/yabloc/yabloc_image_processing/package.xml b/localization/yabloc/yabloc_image_processing/package.xml
index 4dc13b1f923e2..746e01f8e9841 100644
--- a/localization/yabloc/yabloc_image_processing/package.xml
+++ b/localization/yabloc/yabloc_image_processing/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>yabloc_image_processing</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>YabLoc image processing package</description>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/yabloc/yabloc_monitor/CHANGELOG.rst b/localization/yabloc/yabloc_monitor/CHANGELOG.rst
index 322ed6fa7ce20..ea890d490ccfb 100644
--- a/localization/yabloc/yabloc_monitor/CHANGELOG.rst
+++ b/localization/yabloc/yabloc_monitor/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package yabloc_monitor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/localization/yabloc/yabloc_monitor/package.xml b/localization/yabloc/yabloc_monitor/package.xml
index 9fd3e2af75625..ea7ce24f5da7c 100644
--- a/localization/yabloc/yabloc_monitor/package.xml
+++ b/localization/yabloc/yabloc_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>yabloc_monitor</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>YabLoc monitor package</description>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst b/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst
index 967571100c5f4..973e729089d7b 100644
--- a/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst
+++ b/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package yabloc_particle_filter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/localization/yabloc/yabloc_particle_filter/package.xml b/localization/yabloc/yabloc_particle_filter/package.xml
index cbf19be65148f..ac5ba4d30bb8a 100644
--- a/localization/yabloc/yabloc_particle_filter/package.xml
+++ b/localization/yabloc/yabloc_particle_filter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>yabloc_particle_filter</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>YabLoc particle filter package</description>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst b/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst
index fac49c978ca92..2bae9b010e7f0 100644
--- a/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst
+++ b/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package yabloc_pose_initializer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/localization/yabloc/yabloc_pose_initializer/package.xml b/localization/yabloc/yabloc_pose_initializer/package.xml
index 4e650340a309f..77fc397d207d4 100644
--- a/localization/yabloc/yabloc_pose_initializer/package.xml
+++ b/localization/yabloc/yabloc_pose_initializer/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>yabloc_pose_initializer</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The pose initializer</description>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/map/autoware_map_height_fitter/CHANGELOG.rst b/map/autoware_map_height_fitter/CHANGELOG.rst
index 5521960cabbdf..724ca70e2ec2d 100644
--- a/map/autoware_map_height_fitter/CHANGELOG.rst
+++ b/map/autoware_map_height_fitter/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_map_height_fitter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/map/autoware_map_height_fitter/package.xml b/map/autoware_map_height_fitter/package.xml
index bfb9855320d4b..280ad1797a079 100644
--- a/map/autoware_map_height_fitter/package.xml
+++ b/map/autoware_map_height_fitter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_map_height_fitter</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_map_height_fitter package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
diff --git a/map/autoware_map_loader/CHANGELOG.rst b/map/autoware_map_loader/CHANGELOG.rst
index 8aafae5e8b44b..876670b13ca3d 100644
--- a/map/autoware_map_loader/CHANGELOG.rst
+++ b/map/autoware_map_loader/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package autoware_map_loader
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/map/autoware_map_loader/package.xml b/map/autoware_map_loader/package.xml
index 7b793359d725b..48e3b6efdaa13 100644
--- a/map/autoware_map_loader/package.xml
+++ b/map/autoware_map_loader/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_map_loader</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_map_loader package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="ryu.yamamoto@tier4.jp">Ryu Yamamoto</maintainer>
diff --git a/map/autoware_map_projection_loader/CHANGELOG.rst b/map/autoware_map_projection_loader/CHANGELOG.rst
index 40041fa24cda2..b0e85cc682510 100644
--- a/map/autoware_map_projection_loader/CHANGELOG.rst
+++ b/map/autoware_map_projection_loader/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package autoware_map_projection_loader
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/map/autoware_map_projection_loader/package.xml b/map/autoware_map_projection_loader/package.xml
index ddf95efc7414c..7ce0cbb8105a7 100644
--- a/map/autoware_map_projection_loader/package.xml
+++ b/map/autoware_map_projection_loader/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_map_projection_loader</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>autoware_map_projection_loader package as a ROS 2 node</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/map/autoware_map_tf_generator/CHANGELOG.rst b/map/autoware_map_tf_generator/CHANGELOG.rst
index d8c2ebdd75145..18bde0c6a0106 100644
--- a/map/autoware_map_tf_generator/CHANGELOG.rst
+++ b/map/autoware_map_tf_generator/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_map_tf_generator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/map/autoware_map_tf_generator/package.xml b/map/autoware_map_tf_generator/package.xml
index 3c6de9333de79..9a5e0388e08b9 100644
--- a/map/autoware_map_tf_generator/package.xml
+++ b/map/autoware_map_tf_generator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_map_tf_generator</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>map_tf_generator package as a ROS 2 node</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
diff --git a/perception/autoware_bytetrack/CHANGELOG.rst b/perception/autoware_bytetrack/CHANGELOG.rst
index 2c30ebf81ee43..7b18570598431 100644
--- a/perception/autoware_bytetrack/CHANGELOG.rst
+++ b/perception/autoware_bytetrack/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package autoware_bytetrack
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 <https://github.com/autowarefoundation/autoware.universe/issues/9171>`_)
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_bytetrack/package.xml b/perception/autoware_bytetrack/package.xml
index d087f22c53374..0cb0747fff40a 100644
--- a/perception/autoware_bytetrack/package.xml
+++ b/perception/autoware_bytetrack/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_bytetrack</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>ByteTrack implementation ported toward Autoware</description>
   <maintainer email="manato.hirabayashi@tier4.jp">Manato HIRABAYASHI</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi RI</maintainer>
diff --git a/perception/autoware_cluster_merger/CHANGELOG.rst b/perception/autoware_cluster_merger/CHANGELOG.rst
index a304c9a878d5d..9e1d2b9d0caff 100644
--- a/perception/autoware_cluster_merger/CHANGELOG.rst
+++ b/perception/autoware_cluster_merger/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_cluster_merger
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_cluster_merger/package.xml b/perception/autoware_cluster_merger/package.xml
index e93243de2c8b9..29cbe8b5be016 100644
--- a/perception/autoware_cluster_merger/package.xml
+++ b/perception/autoware_cluster_merger/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_cluster_merger</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The ROS 2 cluster merger package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_compare_map_segmentation/CHANGELOG.rst b/perception/autoware_compare_map_segmentation/CHANGELOG.rst
index 70674495527e7..b45f1b3e64076 100644
--- a/perception/autoware_compare_map_segmentation/CHANGELOG.rst
+++ b/perception/autoware_compare_map_segmentation/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package autoware_compare_map_segmentation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_compare_map_segmentation): fix cppcheck constVariableReference (`#9196 <https://github.com/autowarefoundation/autoware.universe/issues/9196>`_)
+* Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_compare_map_segmentation/package.xml b/perception/autoware_compare_map_segmentation/package.xml
index de3d97df91c6f..b25ca8bfd829d 100644
--- a/perception/autoware_compare_map_segmentation/package.xml
+++ b/perception/autoware_compare_map_segmentation/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_compare_map_segmentation</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The ROS 2 autoware_compare_map_segmentation package</description>
   <maintainer email="abrahammonrroy@yahoo.com">amc-nu</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
diff --git a/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst b/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst
index fcff5c1964a10..e4a85d38559b0 100644
--- a/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst
+++ b/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst
@@ -2,6 +2,23 @@
 Changelog for package autoware_crosswalk_traffic_light_estimator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(autoware_traffic_light*): add maintainer (`#9280 <https://github.com/autowarefoundation/autoware.universe/issues/9280>`_)
+  * add fundamental commit
+  * add forgot package
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_crosswalk_traffic_light_estimator/package.xml b/perception/autoware_crosswalk_traffic_light_estimator/package.xml
index abe5c65d3aa1d..12e689b5b50e3 100644
--- a/perception/autoware_crosswalk_traffic_light_estimator/package.xml
+++ b/perception/autoware_crosswalk_traffic_light_estimator/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>autoware_crosswalk_traffic_light_estimator</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_crosswalk_traffic_light_estimator package</description>
 
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
diff --git a/perception/autoware_detected_object_feature_remover/CHANGELOG.rst b/perception/autoware_detected_object_feature_remover/CHANGELOG.rst
index 1c956f5ae6469..2f887760e3970 100644
--- a/perception/autoware_detected_object_feature_remover/CHANGELOG.rst
+++ b/perception/autoware_detected_object_feature_remover/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_detected_object_feature_remover
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_detected_object_feature_remover/package.xml b/perception/autoware_detected_object_feature_remover/package.xml
index aa9eaa9c9df79..45f7d6e9036e7 100644
--- a/perception/autoware_detected_object_feature_remover/package.xml
+++ b/perception/autoware_detected_object_feature_remover/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_detected_object_feature_remover</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_detected_object_feature_remover package</description>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/perception/autoware_detected_object_validation/CHANGELOG.rst b/perception/autoware_detected_object_validation/CHANGELOG.rst
index ee2a4c502e33e..ebe5562fc2ec0 100644
--- a/perception/autoware_detected_object_validation/CHANGELOG.rst
+++ b/perception/autoware_detected_object_validation/CHANGELOG.rst
@@ -2,6 +2,23 @@
 Changelog for package autoware_detected_object_validation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(autoware_detected_object_validation): fix bugprone-incorrect-roundings (`#9220 <https://github.com/autowarefoundation/autoware.universe/issues/9220>`_)
+  fix: bugprone-incorrect-roundings
+* fix(autoware_detected_object_validation): fix clang-diagnostic-error (`#9215 <https://github.com/autowarefoundation/autoware.universe/issues/9215>`_)
+  fix: clang-c-error
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo, kobayu858
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_detected_object_validation/package.xml b/perception/autoware_detected_object_validation/package.xml
index 7c6f34e95a015..777fcea4db226 100644
--- a/perception/autoware_detected_object_validation/package.xml
+++ b/perception/autoware_detected_object_validation/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_detected_object_validation</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The ROS 2 detected_object_validation package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_detection_by_tracker/CHANGELOG.rst b/perception/autoware_detection_by_tracker/CHANGELOG.rst
index 0671601742afb..98d6dbe40f4a6 100644
--- a/perception/autoware_detection_by_tracker/CHANGELOG.rst
+++ b/perception/autoware_detection_by_tracker/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_detection_by_tracker
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_detection_by_tracker/package.xml b/perception/autoware_detection_by_tracker/package.xml
index 05f0ad9b4e109..cee180ba43c29 100644
--- a/perception/autoware_detection_by_tracker/package.xml
+++ b/perception/autoware_detection_by_tracker/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_detection_by_tracker</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The ROS 2 autoware_detection_by_tracker package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/perception/autoware_elevation_map_loader/CHANGELOG.rst b/perception/autoware_elevation_map_loader/CHANGELOG.rst
index cbf29b22a46be..bd4d313348d9b 100644
--- a/perception/autoware_elevation_map_loader/CHANGELOG.rst
+++ b/perception/autoware_elevation_map_loader/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_elevation_map_loader
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_elevation_map_loader/package.xml b/perception/autoware_elevation_map_loader/package.xml
index d80c8f3d67893..9a63c2fa569cc 100644
--- a/perception/autoware_elevation_map_loader/package.xml
+++ b/perception/autoware_elevation_map_loader/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_elevation_map_loader</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_elevation_map_loader package</description>
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
   <maintainer email="taichi.higashide@tier4.jp">Taichi Higashide</maintainer>
diff --git a/perception/autoware_euclidean_cluster/CHANGELOG.rst b/perception/autoware_euclidean_cluster/CHANGELOG.rst
index b62e10d3c224f..9702b99a0b643 100644
--- a/perception/autoware_euclidean_cluster/CHANGELOG.rst
+++ b/perception/autoware_euclidean_cluster/CHANGELOG.rst
@@ -2,6 +2,21 @@
 Changelog for package autoware_euclidean_cluster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_euclidean_cluster): fix bugprone-misplaced-widening-cast (`#9227 <https://github.com/autowarefoundation/autoware.universe/issues/9227>`_)
+  fix: bugprone-misplaced-widening-cast
+* Contributors: Esteve Fernandez, Yutaka Kondo, kobayu858
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_euclidean_cluster/package.xml b/perception/autoware_euclidean_cluster/package.xml
index 18de86fba7bcb..d740c35fbd94d 100644
--- a/perception/autoware_euclidean_cluster/package.xml
+++ b/perception/autoware_euclidean_cluster/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_euclidean_cluster</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_euclidean_cluster package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="dai.nguyen@tier4.jp">Dai Nguyen</maintainer>
diff --git a/perception/autoware_ground_segmentation/CHANGELOG.rst b/perception/autoware_ground_segmentation/CHANGELOG.rst
index faa4e568eb906..7c2dbb7a2413c 100644
--- a/perception/autoware_ground_segmentation/CHANGELOG.rst
+++ b/perception/autoware_ground_segmentation/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_ground_segmentation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_ground_segmentation/package.xml b/perception/autoware_ground_segmentation/package.xml
index 1cd7df3be4aa1..3ac3047654a96 100644
--- a/perception/autoware_ground_segmentation/package.xml
+++ b/perception/autoware_ground_segmentation/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_ground_segmentation</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The ROS 2 autoware_ground_segmentation package</description>
   <maintainer email="abrahammonrroy@yahoo.com">amc-nu</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
diff --git a/perception/autoware_image_projection_based_fusion/CHANGELOG.rst b/perception/autoware_image_projection_based_fusion/CHANGELOG.rst
index 4a309a3e4dcff..87d1bc0c2d687 100644
--- a/perception/autoware_image_projection_based_fusion/CHANGELOG.rst
+++ b/perception/autoware_image_projection_based_fusion/CHANGELOG.rst
@@ -2,6 +2,29 @@
 Changelog for package autoware_image_projection_based_fusion
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_image_projection_based_fusion): make optional to consider lens distortion in the point projection (`#9233 <https://github.com/autowarefoundation/autoware.universe/issues/9233>`_)
+  chore: add point_project_to_unrectified_image parameter to fusion_common.param.yaml
+* fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9226 <https://github.com/autowarefoundation/autoware.universe/issues/9226>`_)
+  * fix: bugprone-misplaced-widening-cast
+  * fix: clang-format
+  ---------
+* fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9229 <https://github.com/autowarefoundation/autoware.universe/issues/9229>`_)
+  * fix: bugprone-misplaced-widening-cast
+  * fix: clang-format
+  ---------
+* Contributors: Esteve Fernandez, Taekjin LEE, Yutaka Kondo, kobayu858
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_image_projection_based_fusion/package.xml b/perception/autoware_image_projection_based_fusion/package.xml
index 335c4712071e0..70aa2246d1cdf 100644
--- a/perception/autoware_image_projection_based_fusion/package.xml
+++ b/perception/autoware_image_projection_based_fusion/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_image_projection_based_fusion</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_image_projection_based_fusion package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst b/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst
index 08824ecfbd3aa..e55a52d6924d5 100644
--- a/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst
+++ b/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst
@@ -2,6 +2,21 @@
 Changelog for package autoware_lidar_apollo_instance_segmentation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_lidar_apollo_instance_segmentation): fix cppcheck suspiciousFloatingPointCast (`#9195 <https://github.com/autowarefoundation/autoware.universe/issues/9195>`_)
+* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 <https://github.com/autowarefoundation/autoware.universe/issues/9171>`_)
+* Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_lidar_apollo_instance_segmentation/package.xml b/perception/autoware_lidar_apollo_instance_segmentation/package.xml
index b0f653dbeb3d0..dd48f1a2844d4 100755
--- a/perception/autoware_lidar_apollo_instance_segmentation/package.xml
+++ b/perception/autoware_lidar_apollo_instance_segmentation/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_lidar_apollo_instance_segmentation</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>autoware_lidar_apollo_instance_segmentation</description>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
diff --git a/perception/autoware_lidar_centerpoint/CHANGELOG.rst b/perception/autoware_lidar_centerpoint/CHANGELOG.rst
index 6809f690c75d1..b10fd533af90f 100644
--- a/perception/autoware_lidar_centerpoint/CHANGELOG.rst
+++ b/perception/autoware_lidar_centerpoint/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_lidar_centerpoint
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_lidar_centerpoint/package.xml b/perception/autoware_lidar_centerpoint/package.xml
index 4f33fd14dbb8f..9734e56a29d57 100644
--- a/perception/autoware_lidar_centerpoint/package.xml
+++ b/perception/autoware_lidar_centerpoint/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_lidar_centerpoint</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_lidar_centerpoint package</description>
   <maintainer email="kenzo.lobos@tier4.jp">Kenzo Lobos-Tsunekawa</maintainer>
   <maintainer email="koji.minoda@tier4.jp">Koji Minoda</maintainer>
diff --git a/perception/autoware_lidar_transfusion/CHANGELOG.rst b/perception/autoware_lidar_transfusion/CHANGELOG.rst
index bfde461fad192..94f49d65991c8 100644
--- a/perception/autoware_lidar_transfusion/CHANGELOG.rst
+++ b/perception/autoware_lidar_transfusion/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_lidar_transfusion
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_lidar_transfusion/package.xml b/perception/autoware_lidar_transfusion/package.xml
index 0714447a6c5c7..a4dd66c27db0e 100644
--- a/perception/autoware_lidar_transfusion/package.xml
+++ b/perception/autoware_lidar_transfusion/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_lidar_transfusion</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The lidar_transfusion package</description>
   <maintainer email="amadeusz.szymko.2@tier4.jp">Amadeusz Szymko</maintainer>
   <maintainer email="kenzo.lobos@tier4.jp">Kenzo Lobos-Tsunekawa</maintainer>
diff --git a/perception/autoware_map_based_prediction/CHANGELOG.rst b/perception/autoware_map_based_prediction/CHANGELOG.rst
index 27297417c6563..69769df3aa04d 100644
--- a/perception/autoware_map_based_prediction/CHANGELOG.rst
+++ b/perception/autoware_map_based_prediction/CHANGELOG.rst
@@ -2,6 +2,36 @@
 Changelog for package autoware_map_based_prediction
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(map_based_prediction): move member functions to utils (`#9225 <https://github.com/autowarefoundation/autoware.universe/issues/9225>`_)
+* refactor(map_based_prediction): divide objectsCallback (`#9219 <https://github.com/autowarefoundation/autoware.universe/issues/9219>`_)
+* refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 <https://github.com/autowarefoundation/autoware.universe/issues/9201>`_)
+  * refactor: grouping functions
+  * refactor: grouping parameters
+  * refactor: rename member road_users_history to road_users_history\_
+  * refactor: separate util functions
+  * refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node
+  * refactor: Add explicit template instantiation for removeOldObjectsHistory function
+  * refactor: Add tf2_geometry_msgs to data_structure
+  * refactor: Remove unused variables and functions in map_based_prediction_node.cpp
+  * Update perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp
+  * Apply suggestions from code review
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com>
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* Contributors: Esteve Fernandez, Mamoru Sobue, Taekjin LEE, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_map_based_prediction/package.xml b/perception/autoware_map_based_prediction/package.xml
index 161429d24ad2a..3d7cba491fe0e 100644
--- a/perception/autoware_map_based_prediction/package.xml
+++ b/perception/autoware_map_based_prediction/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_map_based_prediction</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>This package implements a map_based_prediction</description>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/perception/autoware_multi_object_tracker/CHANGELOG.rst b/perception/autoware_multi_object_tracker/CHANGELOG.rst
index 593a9d70c4346..5f8ee4ef00869 100644
--- a/perception/autoware_multi_object_tracker/CHANGELOG.rst
+++ b/perception/autoware_multi_object_tracker/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_multi_object_tracker
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_multi_object_tracker/package.xml b/perception/autoware_multi_object_tracker/package.xml
index 5eb591d60133f..aa5c4968e36f9 100644
--- a/perception/autoware_multi_object_tracker/package.xml
+++ b/perception/autoware_multi_object_tracker/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_multi_object_tracker</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The ROS 2 autoware_multi_object_tracker package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/perception/autoware_object_merger/CHANGELOG.rst b/perception/autoware_object_merger/CHANGELOG.rst
index e4af14846d835..2e1adbb4b8be6 100644
--- a/perception/autoware_object_merger/CHANGELOG.rst
+++ b/perception/autoware_object_merger/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_object_merger
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_object_merger/package.xml b/perception/autoware_object_merger/package.xml
index 75af6239450c7..84a9ec64cf3f0 100644
--- a/perception/autoware_object_merger/package.xml
+++ b/perception/autoware_object_merger/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_object_merger</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_object_merger package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/perception/autoware_object_range_splitter/CHANGELOG.rst b/perception/autoware_object_range_splitter/CHANGELOG.rst
index 6552fd133981c..b0f2a81744b8e 100644
--- a/perception/autoware_object_range_splitter/CHANGELOG.rst
+++ b/perception/autoware_object_range_splitter/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_object_range_splitter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_object_range_splitter/package.xml b/perception/autoware_object_range_splitter/package.xml
index d220d221bf8f4..27503850261d5 100644
--- a/perception/autoware_object_range_splitter/package.xml
+++ b/perception/autoware_object_range_splitter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_object_range_splitter</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_object_range_splitter package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/perception/autoware_object_velocity_splitter/CHANGELOG.rst b/perception/autoware_object_velocity_splitter/CHANGELOG.rst
index 66513afe678ca..9d38280224125 100644
--- a/perception/autoware_object_velocity_splitter/CHANGELOG.rst
+++ b/perception/autoware_object_velocity_splitter/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_object_velocity_splitter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_object_velocity_splitter/package.xml b/perception/autoware_object_velocity_splitter/package.xml
index 936bb40804882..48ffa93f05102 100644
--- a/perception/autoware_object_velocity_splitter/package.xml
+++ b/perception/autoware_object_velocity_splitter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_object_velocity_splitter</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>autoware_object_velocity_splitter</description>
   <maintainer email="satoshi.tanaka@tier4.jp">Sathshi Tanaka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst b/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst
index 8994678344025..e020be4cc906a 100644
--- a/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst
+++ b/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_occupancy_grid_map_outlier_filter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/package.xml b/perception/autoware_occupancy_grid_map_outlier_filter/package.xml
index 1a5dc84c97e50..c8c1f15f72c0d 100644
--- a/perception/autoware_occupancy_grid_map_outlier_filter/package.xml
+++ b/perception/autoware_occupancy_grid_map_outlier_filter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_occupancy_grid_map_outlier_filter</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The ROS 2 occupancy_grid_map_outlier_filter package</description>
   <maintainer email="abrahammonrroy@yahoo.com">amc-nu</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
diff --git a/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst b/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst
index 2906f0f1f76a3..6668ef1c29ed9 100644
--- a/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst
+++ b/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst
@@ -2,6 +2,21 @@
 Changelog for package autoware_probabilistic_occupancy_grid_map
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-incorrect-roundings (`#9221 <https://github.com/autowarefoundation/autoware.universe/issues/9221>`_)
+  fix: bugprone-incorrect-roundings
+* Contributors: Esteve Fernandez, Yutaka Kondo, kobayu858
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_probabilistic_occupancy_grid_map/package.xml b/perception/autoware_probabilistic_occupancy_grid_map/package.xml
index 60f6cefcc6219..e5bd0eebb9b2e 100644
--- a/perception/autoware_probabilistic_occupancy_grid_map/package.xml
+++ b/perception/autoware_probabilistic_occupancy_grid_map/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_probabilistic_occupancy_grid_map</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>generate probabilistic occupancy grid map</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst b/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst
index be3d4cb398b51..8eb064446cbba 100644
--- a/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst
+++ b/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_radar_crossing_objects_noise_filter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_radar_crossing_objects_noise_filter/package.xml b/perception/autoware_radar_crossing_objects_noise_filter/package.xml
index f0bcfc6d30eee..5536033aa1319 100644
--- a/perception/autoware_radar_crossing_objects_noise_filter/package.xml
+++ b/perception/autoware_radar_crossing_objects_noise_filter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_radar_crossing_objects_noise_filter</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>autoware_radar_crossing_objects_noise_filter</description>
   <maintainer email="satoshi.tanaka@tier4.jp">Sathshi Tanaka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst b/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst
index e1c5497782ae0..9c4e7c527ecb7 100644
--- a/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst
+++ b/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_radar_fusion_to_detected_object
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_radar_fusion_to_detected_object/package.xml b/perception/autoware_radar_fusion_to_detected_object/package.xml
index 07de2ac9532e9..82f2f0926e929 100644
--- a/perception/autoware_radar_fusion_to_detected_object/package.xml
+++ b/perception/autoware_radar_fusion_to_detected_object/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_radar_fusion_to_detected_object</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>autoware_radar_fusion_to_detected_object</description>
   <maintainer email="satoshi.tanaka@tier4.jp">Satoshi Tanaka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_radar_object_clustering/CHANGELOG.rst b/perception/autoware_radar_object_clustering/CHANGELOG.rst
index e2a9c19b6f086..df38cbed59c27 100644
--- a/perception/autoware_radar_object_clustering/CHANGELOG.rst
+++ b/perception/autoware_radar_object_clustering/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_radar_object_clustering
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_radar_object_clustering/package.xml b/perception/autoware_radar_object_clustering/package.xml
index fc103a531ee1d..a4611a68f93f2 100644
--- a/perception/autoware_radar_object_clustering/package.xml
+++ b/perception/autoware_radar_object_clustering/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_radar_object_clustering</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>autoware_radar_object_clustering</description>
   <maintainer email="satoshi.tanaka@tier4.jp">Sathshi Tanaka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_radar_object_tracker/CHANGELOG.rst b/perception/autoware_radar_object_tracker/CHANGELOG.rst
index f2490cc59c4fc..dde801b38e9aa 100644
--- a/perception/autoware_radar_object_tracker/CHANGELOG.rst
+++ b/perception/autoware_radar_object_tracker/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_radar_object_tracker
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_radar_object_tracker/package.xml b/perception/autoware_radar_object_tracker/package.xml
index 3badf1ea766f1..f255ab28b14b9 100644
--- a/perception/autoware_radar_object_tracker/package.xml
+++ b/perception/autoware_radar_object_tracker/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_radar_object_tracker</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>Do tracking radar object</description>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
diff --git a/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst b/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst
index 38e0a25549f76..3d880f603fdb6 100644
--- a/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst
+++ b/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_radar_tracks_msgs_converter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_radar_tracks_msgs_converter/package.xml b/perception/autoware_radar_tracks_msgs_converter/package.xml
index 9efcd7a5e1c02..d84b7e8473f83 100644
--- a/perception/autoware_radar_tracks_msgs_converter/package.xml
+++ b/perception/autoware_radar_tracks_msgs_converter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_radar_tracks_msgs_converter</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>autoware_radar_tracks_msgs_converter</description>
   <maintainer email="satoshi.tanaka@tier4.jp">Satoshi Tanaka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst b/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst
index 1ed0d176125ab..1a20766e6a72c 100644
--- a/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst
+++ b/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_raindrop_cluster_filter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_raindrop_cluster_filter/package.xml b/perception/autoware_raindrop_cluster_filter/package.xml
index 859cad6e72886..08200191ad58b 100644
--- a/perception/autoware_raindrop_cluster_filter/package.xml
+++ b/perception/autoware_raindrop_cluster_filter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_raindrop_cluster_filter</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The ROS 2 filter cluster package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="dai.nguyen@tier4.jp">Dai Nguyen</maintainer>
diff --git a/perception/autoware_shape_estimation/CHANGELOG.rst b/perception/autoware_shape_estimation/CHANGELOG.rst
index 276854066ef08..19630554193ec 100644
--- a/perception/autoware_shape_estimation/CHANGELOG.rst
+++ b/perception/autoware_shape_estimation/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package autoware_shape_estimation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 <https://github.com/autowarefoundation/autoware.universe/issues/9171>`_)
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_shape_estimation/package.xml b/perception/autoware_shape_estimation/package.xml
index f2a1e0e48b5a7..a6a9910155120 100644
--- a/perception/autoware_shape_estimation/package.xml
+++ b/perception/autoware_shape_estimation/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_shape_estimation</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>This package implements a shape estimation algorithm as a ROS 2 node</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/perception/autoware_simple_object_merger/CHANGELOG.rst b/perception/autoware_simple_object_merger/CHANGELOG.rst
index f9b905a340f12..8c9ac43a8382f 100644
--- a/perception/autoware_simple_object_merger/CHANGELOG.rst
+++ b/perception/autoware_simple_object_merger/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_simple_object_merger
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_simple_object_merger/package.xml b/perception/autoware_simple_object_merger/package.xml
index 594ba9959de29..b42544aede418 100644
--- a/perception/autoware_simple_object_merger/package.xml
+++ b/perception/autoware_simple_object_merger/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_simple_object_merger</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>autoware_simple_object_merger</description>
   <maintainer email="satoshi.tanaka@tier4.jp">Sathshi Tanaka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_tensorrt_classifier/CHANGELOG.rst b/perception/autoware_tensorrt_classifier/CHANGELOG.rst
index ac517eba9c465..1fa80f20f6cb7 100644
--- a/perception/autoware_tensorrt_classifier/CHANGELOG.rst
+++ b/perception/autoware_tensorrt_classifier/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package autoware_tensorrt_classifier
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 <https://github.com/autowarefoundation/autoware.universe/issues/9171>`_)
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_tensorrt_classifier/package.xml b/perception/autoware_tensorrt_classifier/package.xml
index c628ba754eeaa..4813fe48cd4fd 100644
--- a/perception/autoware_tensorrt_classifier/package.xml
+++ b/perception/autoware_tensorrt_classifier/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_tensorrt_classifier</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>tensorrt classifier wrapper</description>
 
   <author email="dan.umeda@tier4.jp">Dan Umeda</author>
diff --git a/perception/autoware_tensorrt_common/CHANGELOG.rst b/perception/autoware_tensorrt_common/CHANGELOG.rst
index 9510da691fba7..48a26ad65a610 100644
--- a/perception/autoware_tensorrt_common/CHANGELOG.rst
+++ b/perception/autoware_tensorrt_common/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_tensorrt_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_tensorrt_common/package.xml b/perception/autoware_tensorrt_common/package.xml
index f2a03a4787cc8..7e29cf87b61c3 100644
--- a/perception/autoware_tensorrt_common/package.xml
+++ b/perception/autoware_tensorrt_common/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_tensorrt_common</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>tensorrt utility wrapper</description>
 
   <author email="taichi.higashide@tier4.jp">Taichi Higashide</author>
diff --git a/perception/autoware_tensorrt_yolox/CHANGELOG.rst b/perception/autoware_tensorrt_yolox/CHANGELOG.rst
index e9cec23494914..b0883dab538d5 100644
--- a/perception/autoware_tensorrt_yolox/CHANGELOG.rst
+++ b/perception/autoware_tensorrt_yolox/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package autoware_tensorrt_yolox
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 <https://github.com/autowarefoundation/autoware.universe/issues/9171>`_)
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_tensorrt_yolox/package.xml b/perception/autoware_tensorrt_yolox/package.xml
index 294e13eb46d88..1c8cd51ee935c 100644
--- a/perception/autoware_tensorrt_yolox/package.xml
+++ b/perception/autoware_tensorrt_yolox/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_tensorrt_yolox</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>tensorrt library implementation for yolox</description>
 
   <author email="daisuke.nishimatsu@tier4.jp">Daisuke Nishimatsu</author>
diff --git a/perception/autoware_tracking_object_merger/CHANGELOG.rst b/perception/autoware_tracking_object_merger/CHANGELOG.rst
index a4a65b6339ad1..0c6aad26b02d7 100644
--- a/perception/autoware_tracking_object_merger/CHANGELOG.rst
+++ b/perception/autoware_tracking_object_merger/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_tracking_object_merger
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_tracking_object_merger/package.xml b/perception/autoware_tracking_object_merger/package.xml
index 89475edd247e6..fabe4132c96ed 100644
--- a/perception/autoware_tracking_object_merger/package.xml
+++ b/perception/autoware_tracking_object_merger/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_tracking_object_merger</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>merge tracking object</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/perception/autoware_traffic_light_arbiter/CHANGELOG.rst b/perception/autoware_traffic_light_arbiter/CHANGELOG.rst
index d1bc11f6e45f9..b60021ffb5503 100644
--- a/perception/autoware_traffic_light_arbiter/CHANGELOG.rst
+++ b/perception/autoware_traffic_light_arbiter/CHANGELOG.rst
@@ -2,6 +2,23 @@
 Changelog for package autoware_traffic_light_arbiter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(autoware_traffic_light*): add maintainer (`#9280 <https://github.com/autowarefoundation/autoware.universe/issues/9280>`_)
+  * add fundamental commit
+  * add forgot package
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_traffic_light_arbiter/package.xml b/perception/autoware_traffic_light_arbiter/package.xml
index 638bcbe941416..46500143ed951 100644
--- a/perception/autoware_traffic_light_arbiter/package.xml
+++ b/perception/autoware_traffic_light_arbiter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_traffic_light_arbiter</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_traffic_light_arbiter package</description>
   <maintainer email="kenzo.lobos@tier4.jp">Kenzo Lobos-Tsunekawa</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_traffic_light_classifier/CHANGELOG.rst b/perception/autoware_traffic_light_classifier/CHANGELOG.rst
index 7995044220180..394c8b3f7aeea 100644
--- a/perception/autoware_traffic_light_classifier/CHANGELOG.rst
+++ b/perception/autoware_traffic_light_classifier/CHANGELOG.rst
@@ -2,6 +2,24 @@
 Changelog for package autoware_traffic_light_classifier
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(autoware_traffic_light*): add maintainer (`#9280 <https://github.com/autowarefoundation/autoware.universe/issues/9280>`_)
+  * add fundamental commit
+  * add forgot package
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 <https://github.com/autowarefoundation/autoware.universe/issues/9171>`_)
+* Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_traffic_light_classifier/package.xml b/perception/autoware_traffic_light_classifier/package.xml
index 99bdeb0643d91..5863de6ff50fd 100644
--- a/perception/autoware_traffic_light_classifier/package.xml
+++ b/perception/autoware_traffic_light_classifier/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_traffic_light_classifier</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_traffic_light_classifier package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst b/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst
index 87a5dda3c8add..8918f357e263b 100644
--- a/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst
+++ b/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst
@@ -2,6 +2,23 @@
 Changelog for package autoware_traffic_light_fine_detector
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(autoware_traffic_light*): add maintainer (`#9280 <https://github.com/autowarefoundation/autoware.universe/issues/9280>`_)
+  * add fundamental commit
+  * add forgot package
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_traffic_light_fine_detector/package.xml b/perception/autoware_traffic_light_fine_detector/package.xml
index fd540d80e5d7e..a431f071f8150 100644
--- a/perception/autoware_traffic_light_fine_detector/package.xml
+++ b/perception/autoware_traffic_light_fine_detector/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_traffic_light_fine_detector</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_traffic_light_fine_detector package</description>
   <maintainer email="tao.zhong@tier4.jp">Tao Zhong</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst b/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst
index 5d05b6687cab3..312ef582da479 100644
--- a/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst
+++ b/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst
@@ -2,6 +2,23 @@
 Changelog for package autoware_traffic_light_map_based_detector
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(autoware_traffic_light*): add maintainer (`#9280 <https://github.com/autowarefoundation/autoware.universe/issues/9280>`_)
+  * add fundamental commit
+  * add forgot package
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_traffic_light_map_based_detector/package.xml b/perception/autoware_traffic_light_map_based_detector/package.xml
index 0d0b1efe91d4c..6c22e091ee972 100644
--- a/perception/autoware_traffic_light_map_based_detector/package.xml
+++ b/perception/autoware_traffic_light_map_based_detector/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_traffic_light_map_based_detector</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_traffic_light_map_based_detector package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst b/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst
index 8842867c03485..4354885dcb143 100644
--- a/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst
+++ b/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst
@@ -2,6 +2,23 @@
 Changelog for package autoware_traffic_light_multi_camera_fusion
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(autoware_traffic_light*): add maintainer (`#9280 <https://github.com/autowarefoundation/autoware.universe/issues/9280>`_)
+  * add fundamental commit
+  * add forgot package
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_traffic_light_multi_camera_fusion/package.xml b/perception/autoware_traffic_light_multi_camera_fusion/package.xml
index 111e34030c870..efa8571a660a8 100644
--- a/perception/autoware_traffic_light_multi_camera_fusion/package.xml
+++ b/perception/autoware_traffic_light_multi_camera_fusion/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_traffic_light_multi_camera_fusion</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_traffic_light_multi_camera_fusion package</description>
   <maintainer email="tao.zhong@tier4.jp">Tao Zhong</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst b/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst
index a378f3c04c1f3..fb31d9ffdf0c1 100644
--- a/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst
+++ b/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst
@@ -2,6 +2,23 @@
 Changelog for package autoware_traffic_light_occlusion_predictor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(autoware_traffic_light*): add maintainer (`#9280 <https://github.com/autowarefoundation/autoware.universe/issues/9280>`_)
+  * add fundamental commit
+  * add forgot package
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_traffic_light_occlusion_predictor/package.xml b/perception/autoware_traffic_light_occlusion_predictor/package.xml
index bebe2ae189e74..b1dbc773b5eb0 100644
--- a/perception/autoware_traffic_light_occlusion_predictor/package.xml
+++ b/perception/autoware_traffic_light_occlusion_predictor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_traffic_light_occlusion_predictor</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_traffic_light_occlusion_predictor package</description>
   <maintainer email="tao.zhong@tier4.jp">Tao Zhong</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_traffic_light_visualization/CHANGELOG.rst b/perception/autoware_traffic_light_visualization/CHANGELOG.rst
index 2da3f57f659e5..7da332f0f878b 100644
--- a/perception/autoware_traffic_light_visualization/CHANGELOG.rst
+++ b/perception/autoware_traffic_light_visualization/CHANGELOG.rst
@@ -2,6 +2,23 @@
 Changelog for package autoware_traffic_light_visualization
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(autoware_traffic_light*): add maintainer (`#9280 <https://github.com/autowarefoundation/autoware.universe/issues/9280>`_)
+  * add fundamental commit
+  * add forgot package
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/autoware_traffic_light_visualization/package.xml b/perception/autoware_traffic_light_visualization/package.xml
index afe09b9461b18..210700799ea73 100644
--- a/perception/autoware_traffic_light_visualization/package.xml
+++ b/perception/autoware_traffic_light_visualization/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_traffic_light_visualization</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_traffic_light_visualization package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="tao.zhong@tier4.jp">Tao Zhong</maintainer>
diff --git a/perception/perception_utils/CHANGELOG.rst b/perception/perception_utils/CHANGELOG.rst
index fbe74bbf6d28a..2dbb57cbd2f48 100644
--- a/perception/perception_utils/CHANGELOG.rst
+++ b/perception/perception_utils/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package perception_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/perception/perception_utils/package.xml b/perception/perception_utils/package.xml
index d3d90a4d5ac26..7001d249e1f52 100644
--- a/perception/perception_utils/package.xml
+++ b/perception/perception_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>perception_utils</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The perception_utils package</description>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/planning/autoware_costmap_generator/CHANGELOG.rst b/planning/autoware_costmap_generator/CHANGELOG.rst
index 58250e160fee9..2dad489bbc6a4 100644
--- a/planning/autoware_costmap_generator/CHANGELOG.rst
+++ b/planning/autoware_costmap_generator/CHANGELOG.rst
@@ -2,6 +2,35 @@
 Changelog for package autoware_costmap_generator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(costmap_generator): use vehicle frame for lidar height thresholds (`#9311 <https://github.com/autowarefoundation/autoware.universe/issues/9311>`_)
+* test(costmap_generator): unit test implementation for costmap generator (`#9149 <https://github.com/autowarefoundation/autoware.universe/issues/9149>`_)
+  * modify costmap generator directory structure
+  * rename class CostmapGenerator to CostmapGeneratorNode
+  * unit test for object_map_utils
+  * catch error from lookupTransform
+  * use polling subscriber in costmap generator node
+  * add test for costmap generator node
+  * add test for isActive()
+  * revert unnecessary changes
+  * remove commented out line
+  * minor fix
+  * Update planning/autoware_costmap_generator/src/costmap_generator.cpp
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  ---------
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Maxime CLEMENT, Yutaka Kondo, mkquda
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/autoware_costmap_generator/package.xml b/planning/autoware_costmap_generator/package.xml
index 8779c1e706123..d3b03f171ef97 100644
--- a/planning/autoware_costmap_generator/package.xml
+++ b/planning/autoware_costmap_generator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_costmap_generator</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_costmap_generator package</description>
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
diff --git a/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst b/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst
index d4e76a6d54d81..544a12e7cde26 100644
--- a/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst
+++ b/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_external_velocity_limit_selector
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/autoware_external_velocity_limit_selector/package.xml b/planning/autoware_external_velocity_limit_selector/package.xml
index 252b195945deb..4779de30519a0 100644
--- a/planning/autoware_external_velocity_limit_selector/package.xml
+++ b/planning/autoware_external_velocity_limit_selector/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_external_velocity_limit_selector</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_external_velocity_limit_selector ROS 2 package</description>
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
   <maintainer email="shinnosuke.hirakawa@tier4.jp">Shinnosuke Hirakawa</maintainer>
diff --git a/planning/autoware_freespace_planner/CHANGELOG.rst b/planning/autoware_freespace_planner/CHANGELOG.rst
index dd7f0ce0416ce..277d7f96d5d15 100644
--- a/planning/autoware_freespace_planner/CHANGELOG.rst
+++ b/planning/autoware_freespace_planner/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_freespace_planner
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/autoware_freespace_planner/package.xml b/planning/autoware_freespace_planner/package.xml
index 7e8c2c5beca6c..84818e70f220a 100644
--- a/planning/autoware_freespace_planner/package.xml
+++ b/planning/autoware_freespace_planner/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_freespace_planner</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_freespace_planner package</description>
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
diff --git a/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst b/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst
index 7832350b16067..c032ebe44f723 100644
--- a/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst
+++ b/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst
@@ -2,6 +2,22 @@
 Changelog for package autoware_freespace_planning_algorithms
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(/autoware_freespace_planning_algorithms): fix cppcheck unusedFunction (`#9274 <https://github.com/autowarefoundation/autoware.universe/issues/9274>`_)
+* fix(autoware_freespace_planning_algorithms): fix bugprone-unused-raii (`#9230 <https://github.com/autowarefoundation/autoware.universe/issues/9230>`_)
+  fix: bugprone-unused-raii
+* Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo, kobayu858
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/autoware_freespace_planning_algorithms/package.xml b/planning/autoware_freespace_planning_algorithms/package.xml
index 219a738d50423..9a9b7ad0c586f 100644
--- a/planning/autoware_freespace_planning_algorithms/package.xml
+++ b/planning/autoware_freespace_planning_algorithms/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_freespace_planning_algorithms</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_freespace_planning_algorithms package</description>
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
diff --git a/planning/autoware_mission_planner/CHANGELOG.rst b/planning/autoware_mission_planner/CHANGELOG.rst
index 5859bddced76b..bdab400dfa983 100644
--- a/planning/autoware_mission_planner/CHANGELOG.rst
+++ b/planning/autoware_mission_planner/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_mission_planner
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/autoware_mission_planner/package.xml b/planning/autoware_mission_planner/package.xml
index 8d188e53fdef5..d249d2fb00021 100644
--- a/planning/autoware_mission_planner/package.xml
+++ b/planning/autoware_mission_planner/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_mission_planner</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_mission_planner package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
diff --git a/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst b/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst
index b70fabb1500db..891d36e2a3be5 100644
--- a/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst
+++ b/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_objects_of_interest_marker_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/autoware_objects_of_interest_marker_interface/package.xml b/planning/autoware_objects_of_interest_marker_interface/package.xml
index c9e0a672c0bfc..15f2adac6924d 100644
--- a/planning/autoware_objects_of_interest_marker_interface/package.xml
+++ b/planning/autoware_objects_of_interest_marker_interface/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_objects_of_interest_marker_interface</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_objects_of_interest_marker_interface package</description>
 
   <maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>
diff --git a/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst b/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst
index 65d4428bbcbb0..8b0192c171a29 100644
--- a/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst
+++ b/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst
@@ -2,6 +2,45 @@
 Changelog for package autoware_obstacle_cruise_planner
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 <https://github.com/autowarefoundation/autoware.universe/issues/9180>`_)
+  * first commit
+  * fix building errs.
+  * change diagnostic messages to metric messages for publishing decision.
+  * fix bug about motion_velocity_planner
+  * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner.
+  * tmp save for planning_evaluator
+  * change the topic to which metrics published to.
+  * fix typo.
+  * remove unnesessary publishing of metrics.
+  * mke planning_evaluator publish msg of MetricArray instead of Diags.
+  * update aeb with metric type for decision.
+  * fix some bug
+  * remove autoware_evaluator_utils package.
+  * remove diagnostic_msgs dependency of planning_evaluator
+  * use metric_msgs for autoware_processing_time_checker.
+  * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs.
+  * pre-commit and fix typo
+  * publish metrics even if there is no metric in the MetricArray.
+  * modify the metric name of processing_time.
+  * update unit test for test_planning/control_evaluator
+  * manual pre-commit
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* chore(obstacle_cruise_planner): add function tests for a utils function (`#9206 <https://github.com/autowarefoundation/autoware.universe/issues/9206>`_)
+  * add utils test
+  ---------
+* Contributors: Esteve Fernandez, Kem (TiankuiXian), Yuki TAKAGI, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/autoware_obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml
index d8bf161ef866f..df760ee59de37 100644
--- a/planning/autoware_obstacle_cruise_planner/package.xml
+++ b/planning/autoware_obstacle_cruise_planner/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_obstacle_cruise_planner</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_obstacle_cruise_planner package</description>
 
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/planning/autoware_obstacle_stop_planner/CHANGELOG.rst b/planning/autoware_obstacle_stop_planner/CHANGELOG.rst
index cffc56e34f282..2afc9c79edac5 100644
--- a/planning/autoware_obstacle_stop_planner/CHANGELOG.rst
+++ b/planning/autoware_obstacle_stop_planner/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_obstacle_stop_planner
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/autoware_obstacle_stop_planner/package.xml b/planning/autoware_obstacle_stop_planner/package.xml
index 90c4b3230d5fc..d46ad5c6c2a0d 100644
--- a/planning/autoware_obstacle_stop_planner/package.xml
+++ b/planning/autoware_obstacle_stop_planner/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_obstacle_stop_planner</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_obstacle_stop_planner package</description>
 
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
diff --git a/planning/autoware_path_optimizer/CHANGELOG.rst b/planning/autoware_path_optimizer/CHANGELOG.rst
index 17d9495050dbe..07ea508e53c07 100644
--- a/planning/autoware_path_optimizer/CHANGELOG.rst
+++ b/planning/autoware_path_optimizer/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_path_optimizer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/autoware_path_optimizer/package.xml b/planning/autoware_path_optimizer/package.xml
index 7c5b1e68e759a..8ab7d50ccada4 100644
--- a/planning/autoware_path_optimizer/package.xml
+++ b/planning/autoware_path_optimizer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_path_optimizer</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_path_optimizer package</description>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
diff --git a/planning/autoware_path_smoother/CHANGELOG.rst b/planning/autoware_path_smoother/CHANGELOG.rst
index ab5e23100f6cd..823219e9dd303 100644
--- a/planning/autoware_path_smoother/CHANGELOG.rst
+++ b/planning/autoware_path_smoother/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_path_smoother
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/autoware_path_smoother/package.xml b/planning/autoware_path_smoother/package.xml
index 6c8b3efec678b..572cf514b7be5 100644
--- a/planning/autoware_path_smoother/package.xml
+++ b/planning/autoware_path_smoother/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_path_smoother</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_path_smoother package</description>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
   <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
diff --git a/planning/autoware_planning_test_manager/CHANGELOG.rst b/planning/autoware_planning_test_manager/CHANGELOG.rst
index 67cf805f36426..3d674c64296af 100644
--- a/planning/autoware_planning_test_manager/CHANGELOG.rst
+++ b/planning/autoware_planning_test_manager/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package autoware_planning_test_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/autoware_planning_test_manager/package.xml b/planning/autoware_planning_test_manager/package.xml
index 0ce898cb3fbf9..ec22d871013d3 100644
--- a/planning/autoware_planning_test_manager/package.xml
+++ b/planning/autoware_planning_test_manager/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_planning_test_manager</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>ROS 2 node for testing interface of the nodes in planning module</description>
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
diff --git a/planning/autoware_planning_topic_converter/CHANGELOG.rst b/planning/autoware_planning_topic_converter/CHANGELOG.rst
index 7152b275dd5d9..897a99d1e0bc2 100644
--- a/planning/autoware_planning_topic_converter/CHANGELOG.rst
+++ b/planning/autoware_planning_topic_converter/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_planning_topic_converter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/autoware_planning_topic_converter/package.xml b/planning/autoware_planning_topic_converter/package.xml
index 42ce0fdc16588..3503a9bebda40 100644
--- a/planning/autoware_planning_topic_converter/package.xml
+++ b/planning/autoware_planning_topic_converter/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_planning_topic_converter</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_planning_topic_converter package</description>
 
   <maintainer email="satoshi.ota@tier4.jp">Satoshi OTA</maintainer>
diff --git a/planning/autoware_planning_validator/CHANGELOG.rst b/planning/autoware_planning_validator/CHANGELOG.rst
index 7a8380f24cb8d..9828da69cf80d 100644
--- a/planning/autoware_planning_validator/CHANGELOG.rst
+++ b/planning/autoware_planning_validator/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_planning_validator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/autoware_planning_validator/package.xml b/planning/autoware_planning_validator/package.xml
index 358d721b2f6e5..9db00b580b60d 100644
--- a/planning/autoware_planning_validator/package.xml
+++ b/planning/autoware_planning_validator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_planning_validator</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>ros node for autoware_planning_validator</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
diff --git a/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst b/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst
index 245fa0b4ef084..7a8d11d37fe1e 100644
--- a/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst
+++ b/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_remaining_distance_time_calculator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/autoware_remaining_distance_time_calculator/package.xml b/planning/autoware_remaining_distance_time_calculator/package.xml
index 852139fb7f7b3..55033af92656b 100644
--- a/planning/autoware_remaining_distance_time_calculator/package.xml
+++ b/planning/autoware_remaining_distance_time_calculator/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_remaining_distance_time_calculator</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>Calculates and publishes remaining distance and time of the mission.</description>
 
   <maintainer email="ahmed.ebrahim@leodrive.ai">Ahmed Ebrahim</maintainer>
diff --git a/planning/autoware_route_handler/CHANGELOG.rst b/planning/autoware_route_handler/CHANGELOG.rst
index 9b5b4a5efd159..37c1db12186ce 100644
--- a/planning/autoware_route_handler/CHANGELOG.rst
+++ b/planning/autoware_route_handler/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_route_handler
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/autoware_route_handler/package.xml b/planning/autoware_route_handler/package.xml
index 1ad0529f971c5..78a024a8c5f82 100644
--- a/planning/autoware_route_handler/package.xml
+++ b/planning/autoware_route_handler/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_route_handler</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The route_handling package</description>
   <maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>
   <maintainer email="zulfaqar.azmi@tier4.jp">Zulfaqar Azmi</maintainer>
diff --git a/planning/autoware_rtc_interface/CHANGELOG.rst b/planning/autoware_rtc_interface/CHANGELOG.rst
index 71224eefc2747..3c6fe2604d2ab 100644
--- a/planning/autoware_rtc_interface/CHANGELOG.rst
+++ b/planning/autoware_rtc_interface/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_rtc_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_rtc_interface): fix dependency (`#9237 <https://github.com/autowarefoundation/autoware.universe/issues/9237>`_)
+* fix(rtc_interface): update requested field for every cooperateStatus state (`#9211 <https://github.com/autowarefoundation/autoware.universe/issues/9211>`_)
+  * fix rtc_interface
+  * fix test condition
+  ---------
+* feat(rtc_interface): add requested field (`#9202 <https://github.com/autowarefoundation/autoware.universe/issues/9202>`_)
+  * add requested feature
+  * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp
+  Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
+  ---------
+  Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
+* Contributors: Esteve Fernandez, Go Sakayori, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/autoware_rtc_interface/package.xml b/planning/autoware_rtc_interface/package.xml
index 3479ae18825e9..668e31093072e 100644
--- a/planning/autoware_rtc_interface/package.xml
+++ b/planning/autoware_rtc_interface/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_rtc_interface</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_rtc_interface package</description>
 
   <maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>
diff --git a/planning/autoware_scenario_selector/CHANGELOG.rst b/planning/autoware_scenario_selector/CHANGELOG.rst
index 642e823ea9236..0e1a560fa95e8 100644
--- a/planning/autoware_scenario_selector/CHANGELOG.rst
+++ b/planning/autoware_scenario_selector/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_scenario_selector
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/autoware_scenario_selector/package.xml b/planning/autoware_scenario_selector/package.xml
index 6579427273df5..9787f95ed9fde 100644
--- a/planning/autoware_scenario_selector/package.xml
+++ b/planning/autoware_scenario_selector/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_scenario_selector</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_scenario_selector ROS 2 package</description>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/planning/autoware_static_centerline_generator/CHANGELOG.rst b/planning/autoware_static_centerline_generator/CHANGELOG.rst
index efb482f3f33e1..6fac2e4677528 100644
--- a/planning/autoware_static_centerline_generator/CHANGELOG.rst
+++ b/planning/autoware_static_centerline_generator/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_static_centerline_generator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/autoware_static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml
index b9b1267a343db..a6d97d6fae2f7 100644
--- a/planning/autoware_static_centerline_generator/package.xml
+++ b/planning/autoware_static_centerline_generator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_static_centerline_generator</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_static_centerline_generator package</description>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
diff --git a/planning/autoware_surround_obstacle_checker/CHANGELOG.rst b/planning/autoware_surround_obstacle_checker/CHANGELOG.rst
index 5a9105c869042..077b52e08e342 100644
--- a/planning/autoware_surround_obstacle_checker/CHANGELOG.rst
+++ b/planning/autoware_surround_obstacle_checker/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_surround_obstacle_checker
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/autoware_surround_obstacle_checker/package.xml b/planning/autoware_surround_obstacle_checker/package.xml
index e8c1ca6e9eb34..64a626c0ccb60 100644
--- a/planning/autoware_surround_obstacle_checker/package.xml
+++ b/planning/autoware_surround_obstacle_checker/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_surround_obstacle_checker</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_surround_obstacle_checker package</description>
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
   <maintainer email="go.sakayori@tier4.jp">Go Sakayori</maintainer>
diff --git a/planning/autoware_velocity_smoother/CHANGELOG.rst b/planning/autoware_velocity_smoother/CHANGELOG.rst
index 33aa32d835398..14c905b82cfa1 100644
--- a/planning/autoware_velocity_smoother/CHANGELOG.rst
+++ b/planning/autoware_velocity_smoother/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package autoware_velocity_smoother
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(qp_interface): prefix package and namespace with autoware (`#9236 <https://github.com/autowarefoundation/autoware.universe/issues/9236>`_)
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/autoware_velocity_smoother/package.xml b/planning/autoware_velocity_smoother/package.xml
index e0e028656e8be..c27a984c36681 100644
--- a/planning/autoware_velocity_smoother/package.xml
+++ b/planning/autoware_velocity_smoother/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_velocity_smoother</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_velocity_smoother package</description>
 
   <maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst
index aa4bfb81d81db..e736da5b9fb49 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst
+++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_behavior_path_avoidance_by_lane_change_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml
index 77ebb1e160644..43195e8ca502b 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_path_avoidance_by_lane_change_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The behavior_path_avoidance_by_lane_change_module package</description>
 
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst
index 9f25d197cc113..7219f13994710 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst
+++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_behavior_path_dynamic_obstacle_avoidance_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml
index 7849278a16f1a..1829d9a949115 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_path_dynamic_obstacle_avoidance_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_path_dynamic_obstacle_avoidance_module package</description>
 
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst
index 501e950312718..cdd6bc1033d7e 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst
+++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_behavior_path_external_request_lane_change_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml
index c09f34bf53574..981f119357ca0 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_path_external_request_lane_change_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_path_external_request_lane_change_module package</description>
 
   <maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst
index 3617b609cc31c..1813e0ac901f9 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst
@@ -2,6 +2,23 @@
 Changelog for package autoware_behavior_path_goal_planner_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(goal_planner): remove reference_goal_pose getter/setter (`#9270 <https://github.com/autowarefoundation/autoware.universe/issues/9270>`_)
+* feat(goal_planner): safety check with only parking path (`#9293 <https://github.com/autowarefoundation/autoware.universe/issues/9293>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* feat(goal_planner): sort candidate path only when num to avoid is different (`#9271 <https://github.com/autowarefoundation/autoware.universe/issues/9271>`_)
+* fix(autoware_behavior_path_goal_planner_module): fix cppcheck unreadVariable (`#9192 <https://github.com/autowarefoundation/autoware.universe/issues/9192>`_)
+* Contributors: Esteve Fernandez, Kosuke Takeuchi, Mamoru Sobue, Ryuta Kambe, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml
index 30d3c96aa6c87..dc7221d0fd604 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_path_goal_planner_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_path_goal_planner_module package</description>
 
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst
index cc4ff795e150a..572a09aeda817 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst
@@ -2,6 +2,45 @@
 Changelog for package autoware_behavior_path_lane_change_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(lane_change): remove std::optional from lanes polygon (`#9288 <https://github.com/autowarefoundation/autoware.universe/issues/9288>`_)
+* fix(lane_change): extending lane change path for multiple lane change (RT1-8427) (`#9268 <https://github.com/autowarefoundation/autoware.universe/issues/9268>`_)
+  * RT1-8427 extending lc path for multiple lc
+  * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
+  Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
+  ---------
+  Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 <https://github.com/autowarefoundation/autoware.universe/issues/9279>`_)
+  fix computation of maximum lane changing length threshold
+* refactor(lane_change): revert "remove std::optional from lanes polygon" (`#9272 <https://github.com/autowarefoundation/autoware.universe/issues/9272>`_)
+  Revert "refactor(lane_change): remove std::optional from lanes polygon (`#9267 <https://github.com/autowarefoundation/autoware.universe/issues/9267>`_)"
+  This reverts commit 0c70ea8793985c6aae90f851eeffdd2561fe04b3.
+* refactor(lane_change): remove std::optional from lanes polygon (`#9267 <https://github.com/autowarefoundation/autoware.universe/issues/9267>`_)
+* fix(lane_change): enable cancel when ego in turn direction lane (`#9124 <https://github.com/autowarefoundation/autoware.universe/issues/9124>`_)
+  * RT0-33893 add checks from prev intersection
+  * fix shadow variable
+  * fix logic
+  * update readme
+  * refactor get_ego_footprint
+  ---------
+* test(bpp_common): add unit test for safety check (`#9223 <https://github.com/autowarefoundation/autoware.universe/issues/9223>`_)
+  * add test for object collision
+  * add test for more functions
+  * add docstring
+  * fix lane change
+  ---------
+* Contributors: Esteve Fernandez, Go Sakayori, Yutaka Kondo, Zulfaqar Azmi, mkquda
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml
index aef3d357c20da..d4108003a9afe 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_path_lane_change_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_path_lane_change_module package</description>
 
   <maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst
index eb9dc2c942d71..ea088d6130c85 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_behavior_path_planner
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml
index 4cbb6b7ffb1cb..7fa591bd4a740 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_path_planner</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The behavior_path_planner package</description>
 
   <!-- lane change module -->
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst
index cba7021dcc6bc..0e0b6aa328d26 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst
@@ -2,6 +2,41 @@
 Changelog for package autoware_behavior_path_planner_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(goal_planner): safety check with only parking path (`#9293 <https://github.com/autowarefoundation/autoware.universe/issues/9293>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(behavior_path_planner_common): use boost intersects instead of overlaps (`#9289 <https://github.com/autowarefoundation/autoware.universe/issues/9289>`_)
+  * fix(behavior_path_planner_common): use boost intersects instead of overlaps
+  * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp
+  Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com>
+  ---------
+  Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com>
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(bpp): prevent accessing nullopt (`#9269 <https://github.com/autowarefoundation/autoware.universe/issues/9269>`_)
+* test(behavior_path_planner_common): add unit test for path shifter (`#9239 <https://github.com/autowarefoundation/autoware.universe/issues/9239>`_)
+  * add unit test for path shifter
+  * fix unnecessary modification
+  * fix spelling mistake
+  * add docstring
+  ---------
+* test(bpp_common): add unit test for safety check (`#9223 <https://github.com/autowarefoundation/autoware.universe/issues/9223>`_)
+  * add test for object collision
+  * add test for more functions
+  * add docstring
+  * fix lane change
+  ---------
+* fix(bpp): prevent accessing nullopt (`#9204 <https://github.com/autowarefoundation/autoware.universe/issues/9204>`_)
+  fix(bpp): calcDistanceToRedTrafficLight null
+* Contributors: Esteve Fernandez, Go Sakayori, Kosuke Takeuchi, Shumpei Wakabayashi, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
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
index bd32cf42293a7..40506ad74a274 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_path_planner_common</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_path_planner_common package</description>
 
   <!-- turn signal decider -->
diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst
index 7ca3438da02d0..e823e6501df47 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst
+++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package autoware_behavior_path_sampling_planner_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_behavior_path_sampling_planner_module): fix cppcheck unusedVariable (`#9190 <https://github.com/autowarefoundation/autoware.universe/issues/9190>`_)
+* Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml
index 8d33d41ee96a0..cd609a9dee40f 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_path_sampling_planner_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_path_sampling_planner_module package</description>
 
   <maintainer email="daniel.sanchez@tier4.jp">Daniel Sanchez</maintainer>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst
index b1fd2c45965bc..58ab621b9c925 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst
+++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_behavior_path_side_shift_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml
index 05cb8be401554..6eac60c2411fd 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_path_side_shift_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_path_side_shift_module package</description>
 
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst
index d4e3a843a8319..cbf67c171ee03 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst
+++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst
@@ -2,6 +2,22 @@
 Changelog for package autoware_behavior_path_start_planner_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 <https://github.com/autowarefoundation/autoware.universe/issues/9309>`_)
+  speed up by updating polygons
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_behavior_path_start_planner_module): fix cppcheck unreadVariable (`#9277 <https://github.com/autowarefoundation/autoware.universe/issues/9277>`_)
+* Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo, danielsanchezaran
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml
index 1d883477524b5..97f1a8569b132 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_path_start_planner_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_path_start_planner_module package</description>
 
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst
index f6e5ba7526780..5d2af19f9ce2e 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst
+++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst
@@ -2,6 +2,31 @@
 Changelog for package autoware_behavior_path_static_obstacle_avoidance_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* test(bpp_common): add unit test for safety check (`#9223 <https://github.com/autowarefoundation/autoware.universe/issues/9223>`_)
+  * add test for object collision
+  * add test for more functions
+  * add docstring
+  * fix lane change
+  ---------
+* feat(static_obstacle_avoidance): operator request for ambiguous vehicle (`#9205 <https://github.com/autowarefoundation/autoware.universe/issues/9205>`_)
+  * add operator request feature
+  * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
+  Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
+  ---------
+  Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
+* Contributors: Esteve Fernandez, Go Sakayori, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml
index ca7a2dab1191c..00f0db2224d5b 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_path_static_obstacle_avoidance_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_path_static_obstacle_avoidance_module package</description>
 
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst
index cca3b919daf18..6c312d3f90cb8 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_behavior_velocity_blind_spot_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
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
index b484c6a66cbac..1dd334f89c67f 100644
--- 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
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_blind_spot_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_velocity_blind_spot_module package</description>
 
   <maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst
index f9fe6b4479c0a..8663879cc095f 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst
@@ -2,6 +2,21 @@
 Changelog for package autoware_behavior_velocity_crosswalk_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback (`#9234 <https://github.com/autowarefoundation/autoware.universe/issues/9234>`_)
+* test(crosswalk): add unit test (`#9228 <https://github.com/autowarefoundation/autoware.universe/issues/9228>`_)
+* Contributors: Esteve Fernandez, Satoshi OTA, Yuki TAKAGI, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
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
index e6a0d93575f80..891a77e100435 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_crosswalk_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_velocity_crosswalk_module package</description>
 
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst
index 2db48d466139c..f53d95a981950 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package autoware_behavior_velocity_detection_area_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* feat(detection_area)!: add retruction feature (`#9255 <https://github.com/autowarefoundation/autoware.universe/issues/9255>`_)
+* Contributors: Esteve Fernandez, Yuki TAKAGI, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml
index 14a1723f3be2a..1bd4e05af8447 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_detection_area_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_velocity_detection_area_module package</description>
 
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst
index d7e0b2d2fd5ae..4bd9f8487b644 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst
@@ -2,6 +2,25 @@
 Changelog for package autoware_behavior_velocity_intersection_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(bvp): remove expired module safely (`#9212 <https://github.com/autowarefoundation/autoware.universe/issues/9212>`_)
+  * fix(bvp): remove expired module safely
+  * fix: remove module id set
+  * fix: use itr to erase expired module
+  * fix: remove unused function
+  ---------
+* Contributors: Esteve Fernandez, Satoshi OTA, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml
index f80aed04512cc..16c7a13f21320 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_intersection_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_velocity_intersection_module package</description>
 
   <maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst
index 6befa38af63e1..0d3e17d146747 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_behavior_velocity_no_drivable_lane_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml
index f4e71d5bff78e..524aeec6d6c6d 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_no_drivable_lane_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_velocity_no_drivable_lane_module package</description>
 
   <maintainer email="ahmed.ebrahim@leodrive.ai">Ahmed Ebrahim</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst
index 130aa5c56cd48..de6f32656fe5b 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package autoware_behavior_velocity_no_stopping_area_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_behavior_velocity_no_stopping_area_module): fix cppcheck knownConditionTrueFalse (`#9189 <https://github.com/autowarefoundation/autoware.universe/issues/9189>`_)
+* Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml
index bc119becdfece..0873e3cd433d2 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_no_stopping_area_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_velocity_no_stopping_area_module package</description>
 
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst
index 42636a0ca1d89..695f4a63e3ae0 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_behavior_velocity_occlusion_spot_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml
index 34597b1c41a5f..9ce05294f86ed 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_occlusion_spot_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_velocity_occlusion_spot_module package</description>
 
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst
index c4594d8bc0df4..eedb174bcd2c4 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst
@@ -2,6 +2,23 @@
 Changelog for package autoware_behavior_velocity_planner
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(bvp): use polling subscriber (`#9242 <https://github.com/autowarefoundation/autoware.universe/issues/9242>`_)
+  * fix(bvp): use polling subscriber
+  * fix: use newest policy
+  ---------
+* Contributors: Esteve Fernandez, Satoshi OTA, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
index 4dc4876010555..a7a892e521826 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_planner</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_velocity_planner package</description>
 
   <maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst
index de8e6e910e7a6..c702d7b763653 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst
@@ -2,6 +2,25 @@
 Changelog for package autoware_behavior_velocity_planner_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(bvp): remove expired module safely (`#9212 <https://github.com/autowarefoundation/autoware.universe/issues/9212>`_)
+  * fix(bvp): remove expired module safely
+  * fix: remove module id set
+  * fix: use itr to erase expired module
+  * fix: remove unused function
+  ---------
+* Contributors: Esteve Fernandez, Satoshi OTA, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml
index 105b0528940bf..1e309ebd1caee 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_planner_common</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_velocity_planner_common package</description>
 
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst
index 6ffbc52ff3077..ae2df69a585c0 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_behavior_velocity_run_out_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml
index 6aaab5817aad6..a5374f0e37bde 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_run_out_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_velocity_run_out_module package</description>
 
   <maintainer email="tomohito.ando@tier4.jp">Tomohito Ando</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst
index dda59c346fd20..d21af6839aaab 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_behavior_velocity_speed_bump_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml
index 3018be3e328b8..6560a51b3a026 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_speed_bump_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_velocity_speed_bump_module package</description>
 
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst
index 4bfe8d3d74a06..0fa84098defb2 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_behavior_velocity_stop_line_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml
index c5e3690dd620d..7489e03c6ead0 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_stop_line_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_velocity_stop_line_module package</description>
 
   <maintainer email="yukinari.hisaki.2@tier4.jp">Yukinari Hisaki</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst
index 361738a56b5b4..a1a2e65e5d749 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_behavior_velocity_template_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml
index d0c43166cd670..2cae84e19929f 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_template_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_velocity_template_module package</description>
 
   <maintainer email="daniel.sanchez@tier4.jp">Daniel Sanchez</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst
index 80f08e3aec044..1ae51ad5bf695 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_behavior_velocity_traffic_light_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml
index 244d03553351b..0ded242b6a3cf 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_traffic_light_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_velocity_traffic_light_module package</description>
 
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst
index f811d901e6489..c0b26562f584c 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_behavior_velocity_virtual_traffic_light_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml
index b1ecfdb26bcde..581d03e71c06d 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_virtual_traffic_light_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_velocity_virtual_traffic_light_module package</description>
 
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst
index 1d9d0a1dbc9da..69ea69091532b 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_behavior_velocity_walkway_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml
index 03724767271fe..9c706e3e13cd0 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_walkway_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_behavior_velocity_walkway_module package</description>
 
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst
index 18a98316008ce..e05c363a76192 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_motion_velocity_dynamic_obstacle_stop_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml
index 5916d20f5c42e..e66fb82704c05 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_motion_velocity_dynamic_obstacle_stop_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>dynamic_obstacle_stop module to stop ego when in the immediate path of a dynamic object</description>
 
   <maintainer email="maxime.clement@tier4.jp">Maxime Clement</maintainer>
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst
index 8519142e059eb..844d4425a6afd 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_motion_velocity_obstacle_velocity_limiter_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml
index cd9dd1b756b64..268f331f86423 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_motion_velocity_obstacle_velocity_limiter_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>Package to adjust velocities of a trajectory in order for the ride to feel safe</description>
 
   <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst
index 35ad88f5955db..57a3918601976 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package autoware_motion_velocity_out_of_lane_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(out_of_lane): correct calculations of the stop pose (`#9209 <https://github.com/autowarefoundation/autoware.universe/issues/9209>`_)
+* Contributors: Esteve Fernandez, Maxime CLEMENT, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml
index 18e072191905e..4001136b72ec0 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_motion_velocity_out_of_lane_module</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The motion_velocity_out_of_lane_module package</description>
 
   <maintainer email="maxime.clement@tier4.jp">Maxime Clement</maintainer>
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst
index 2de2517dbf0e5..3b353111d1055 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_motion_velocity_planner_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml
index 9f518044b9d05..650b3308d508b 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_motion_velocity_planner_common</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>Common functions and interfaces for motion_velocity_planner modules</description>
 
   <maintainer email="maxime.clement@tier4.jp">Maxime Clement</maintainer>
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst
index aabf62dffd79d..01fb10df7bd64 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst
@@ -2,6 +2,42 @@
 Changelog for package autoware_motion_velocity_planner_node
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 <https://github.com/autowarefoundation/autoware.universe/issues/9180>`_)
+  * first commit
+  * fix building errs.
+  * change diagnostic messages to metric messages for publishing decision.
+  * fix bug about motion_velocity_planner
+  * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner.
+  * tmp save for planning_evaluator
+  * change the topic to which metrics published to.
+  * fix typo.
+  * remove unnesessary publishing of metrics.
+  * mke planning_evaluator publish msg of MetricArray instead of Diags.
+  * update aeb with metric type for decision.
+  * fix some bug
+  * remove autoware_evaluator_utils package.
+  * remove diagnostic_msgs dependency of planning_evaluator
+  * use metric_msgs for autoware_processing_time_checker.
+  * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs.
+  * pre-commit and fix typo
+  * publish metrics even if there is no metric in the MetricArray.
+  * modify the metric name of processing_time.
+  * update unit test for test_planning/control_evaluator
+  * manual pre-commit
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Kem (TiankuiXian), Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml
index 3e68d8262aae9..a28a24d4dae49 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_motion_velocity_planner_node</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>Node of the motion_velocity_planner</description>
 
   <maintainer email="maxime.clement@tier4.jp">Maxime Clement</maintainer>
diff --git a/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst b/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst
index 3b3d46ee59b79..b3ab3bb13aa3c 100644
--- a/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst
+++ b/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_bezier_sampler
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/sampling_based_planner/autoware_bezier_sampler/package.xml b/planning/sampling_based_planner/autoware_bezier_sampler/package.xml
index 5293a01de4577..9da456248f0ce 100644
--- a/planning/sampling_based_planner/autoware_bezier_sampler/package.xml
+++ b/planning/sampling_based_planner/autoware_bezier_sampler/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_bezier_sampler</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>Package to sample trajectories using Bézier curves</description>
   <author email="maxime.clement@tier4.jp">Maxime CLEMENT</author>
   <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
diff --git a/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst b/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst
index 9d539fa198df1..e0123b1de0bd7 100644
--- a/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst
+++ b/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_frenet_planner
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/sampling_based_planner/autoware_frenet_planner/package.xml b/planning/sampling_based_planner/autoware_frenet_planner/package.xml
index 8a6d4d487580d..11608baabeb76 100644
--- a/planning/sampling_based_planner/autoware_frenet_planner/package.xml
+++ b/planning/sampling_based_planner/autoware_frenet_planner/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_frenet_planner</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_frenet_planner package for trajectory generation in Frenet frame</description>
   <author email="maxime.clement@tier4.jp">Maxime CLEMENT</author>
   <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
diff --git a/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst b/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst
index 6ad80c1f48ae0..33fb5a66d1ed6 100644
--- a/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst
+++ b/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_path_sampler
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/sampling_based_planner/autoware_path_sampler/package.xml b/planning/sampling_based_planner/autoware_path_sampler/package.xml
index c4dafda08a14c..8f27509d27f67 100644
--- a/planning/sampling_based_planner/autoware_path_sampler/package.xml
+++ b/planning/sampling_based_planner/autoware_path_sampler/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_path_sampler</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>Package for the sampling-based path planner</description>
   <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
   <license>Apache License 2.0</license>
diff --git a/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst b/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst
index c571077d5d029..d07a47c0c4629 100644
--- a/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst
+++ b/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_sampler_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/planning/sampling_based_planner/autoware_sampler_common/package.xml b/planning/sampling_based_planner/autoware_sampler_common/package.xml
index d110807877761..b5b4ab3bd9dc8 100644
--- a/planning/sampling_based_planner/autoware_sampler_common/package.xml
+++ b/planning/sampling_based_planner/autoware_sampler_common/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_sampler_common</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>Common classes and functions for sampling based planners</description>
   <author email="maxime.clement@tier4.jp">Maxime CLEMENT</author>
   <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
diff --git a/sensing/autoware_cuda_utils/CHANGELOG.rst b/sensing/autoware_cuda_utils/CHANGELOG.rst
index fe3b28768acbb..64b78ebc94eee 100644
--- a/sensing/autoware_cuda_utils/CHANGELOG.rst
+++ b/sensing/autoware_cuda_utils/CHANGELOG.rst
@@ -1,6 +1,19 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package autoware_cuda_utils
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 <https://github.com/autowarefoundation/autoware.universe/issues/9171>`_)
+* Contributors: Esteve Fernandez, Yutaka Kondo
 
 0.38.0 (2024-11-08)
 -------------------
diff --git a/sensing/autoware_cuda_utils/package.xml b/sensing/autoware_cuda_utils/package.xml
index ea65eda9a11f5..817aa395092aa 100644
--- a/sensing/autoware_cuda_utils/package.xml
+++ b/sensing/autoware_cuda_utils/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_cuda_utils</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>cuda utility library</description>
 
   <author email="daisuke.nishimatsu@tier4.jp">Daisuke Nishimatsu</author>
diff --git a/sensing/autoware_gnss_poser/CHANGELOG.rst b/sensing/autoware_gnss_poser/CHANGELOG.rst
index 551ed898b5663..25713471aacbd 100644
--- a/sensing/autoware_gnss_poser/CHANGELOG.rst
+++ b/sensing/autoware_gnss_poser/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package autoware_gnss_poser
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/sensing/autoware_gnss_poser/package.xml b/sensing/autoware_gnss_poser/package.xml
index defcff66a1518..8304229b18a05 100644
--- a/sensing/autoware_gnss_poser/package.xml
+++ b/sensing/autoware_gnss_poser/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_gnss_poser</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The ROS 2 autoware_gnss_poser package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/sensing/autoware_image_diagnostics/CHANGELOG.rst b/sensing/autoware_image_diagnostics/CHANGELOG.rst
index cc0f34ff1a90b..db6df3ceedc67 100644
--- a/sensing/autoware_image_diagnostics/CHANGELOG.rst
+++ b/sensing/autoware_image_diagnostics/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_image_diagnostics
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/sensing/autoware_image_diagnostics/package.xml b/sensing/autoware_image_diagnostics/package.xml
index cbf2579081b99..48109cfd22e91 100644
--- a/sensing/autoware_image_diagnostics/package.xml
+++ b/sensing/autoware_image_diagnostics/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_image_diagnostics</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_image_diagnostics package</description>
   <maintainer email="dai.nguyen@tier4.jp">Dai Nguyen</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/sensing/autoware_image_transport_decompressor/CHANGELOG.rst b/sensing/autoware_image_transport_decompressor/CHANGELOG.rst
index faf96ac052e25..fb82afbff8fe9 100644
--- a/sensing/autoware_image_transport_decompressor/CHANGELOG.rst
+++ b/sensing/autoware_image_transport_decompressor/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_image_transport_decompressor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/sensing/autoware_image_transport_decompressor/package.xml b/sensing/autoware_image_transport_decompressor/package.xml
index 00de3283895c8..22766b6582631 100644
--- a/sensing/autoware_image_transport_decompressor/package.xml
+++ b/sensing/autoware_image_transport_decompressor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_image_transport_decompressor</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The image_transport_decompressor package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="kenzo.lobos@tier4.jp">Kenzo Lobos-Tsunekawa</maintainer>
diff --git a/sensing/autoware_imu_corrector/CHANGELOG.rst b/sensing/autoware_imu_corrector/CHANGELOG.rst
index 3ee386a1481f3..926cd3a195e0f 100644
--- a/sensing/autoware_imu_corrector/CHANGELOG.rst
+++ b/sensing/autoware_imu_corrector/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_imu_corrector
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/sensing/autoware_imu_corrector/package.xml b/sensing/autoware_imu_corrector/package.xml
index 2b33890d4dbd8..e32814af99863 100644
--- a/sensing/autoware_imu_corrector/package.xml
+++ b/sensing/autoware_imu_corrector/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_imu_corrector</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The ROS 2 autoware_imu_corrector package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="taiki.yamada@tier4.jp">Taiki Yamada</maintainer>
diff --git a/sensing/autoware_pcl_extensions/CHANGELOG.rst b/sensing/autoware_pcl_extensions/CHANGELOG.rst
index 7d0c642b6ff8b..ef8cc108086b5 100644
--- a/sensing/autoware_pcl_extensions/CHANGELOG.rst
+++ b/sensing/autoware_pcl_extensions/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_pcl_extensions
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/sensing/autoware_pcl_extensions/package.xml b/sensing/autoware_pcl_extensions/package.xml
index 4601a043980b1..a141ebb31223f 100644
--- a/sensing/autoware_pcl_extensions/package.xml
+++ b/sensing/autoware_pcl_extensions/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_pcl_extensions</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_pcl_extensions package</description>
   <maintainer email="ryu.yamamoto@tier4.jp">Ryu Yamamoto</maintainer>
   <maintainer email="kenzo.lobos@tier4.jp">Kenzo Lobos Tsunekawa</maintainer>
diff --git a/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst b/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst
index 126b444134bc8..6812ad076e60f 100644
--- a/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst
+++ b/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst
@@ -2,6 +2,27 @@
 Changelog for package autoware_pointcloud_preprocessor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_pointcloud_preprocessor): fix the wrong naming of crop box parameter file  (`#9258 <https://github.com/autowarefoundation/autoware.universe/issues/9258>`_)
+  fix: fix the wrong file name
+* fix(autoware_pointcloud_preprocessor): launch file load parameter from yaml (`#8129 <https://github.com/autowarefoundation/autoware.universe/issues/8129>`_)
+  * feat: fix launch file
+  * chore: fix spell error
+  * chore: fix parameters file name
+  * chore: remove filter base
+  ---------
+* Contributors: Esteve Fernandez, Yi-Hsiang Fang (Vivid), Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/sensing/autoware_pointcloud_preprocessor/package.xml b/sensing/autoware_pointcloud_preprocessor/package.xml
index 85e42b4291626..20643d66d364c 100644
--- a/sensing/autoware_pointcloud_preprocessor/package.xml
+++ b/sensing/autoware_pointcloud_preprocessor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_pointcloud_preprocessor</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The ROS 2 autoware_pointcloud_preprocessor package</description>
   <maintainer email="abrahammonrroy@yahoo.com">amc-nu</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
diff --git a/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst b/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst
index b9fe1abe13093..8524887c25bff 100644
--- a/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst
+++ b/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_radar_scan_to_pointcloud2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/sensing/autoware_radar_scan_to_pointcloud2/package.xml b/sensing/autoware_radar_scan_to_pointcloud2/package.xml
index bd0ed8ee717db..9dae0e583bc43 100644
--- a/sensing/autoware_radar_scan_to_pointcloud2/package.xml
+++ b/sensing/autoware_radar_scan_to_pointcloud2/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_radar_scan_to_pointcloud2</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>autoware_radar_scan_to_pointcloud2</description>
   <maintainer email="satoshi.tanaka@tier4.jp">Satoshi Tanaka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst b/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst
index c7ee62041f611..eba58b0fb6278 100644
--- a/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst
+++ b/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_radar_static_pointcloud_filter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/sensing/autoware_radar_static_pointcloud_filter/package.xml b/sensing/autoware_radar_static_pointcloud_filter/package.xml
index 744148517aafe..f685147f9d0a4 100644
--- a/sensing/autoware_radar_static_pointcloud_filter/package.xml
+++ b/sensing/autoware_radar_static_pointcloud_filter/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_radar_static_pointcloud_filter</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>autoware_radar_static_pointcloud_filter</description>
   <maintainer email="satoshi.tanaka@tier4.jp">Satoshi Tanaka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/sensing/autoware_radar_threshold_filter/CHANGELOG.rst b/sensing/autoware_radar_threshold_filter/CHANGELOG.rst
index 366301da6ea56..ef65bcc5f4fe4 100644
--- a/sensing/autoware_radar_threshold_filter/CHANGELOG.rst
+++ b/sensing/autoware_radar_threshold_filter/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_radar_threshold_filter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/sensing/autoware_radar_threshold_filter/package.xml b/sensing/autoware_radar_threshold_filter/package.xml
index 7629ffec9b96a..3127153fd9e30 100644
--- a/sensing/autoware_radar_threshold_filter/package.xml
+++ b/sensing/autoware_radar_threshold_filter/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_radar_threshold_filter</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>autoware_radar_threshold_filter</description>
   <maintainer email="satoshi.tanaka@tier4.jp">Satoshi Tanaka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst b/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst
index 6bc3742acd7fc..29ff75fddd69a 100644
--- a/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst
+++ b/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_radar_tracks_noise_filter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/sensing/autoware_radar_tracks_noise_filter/package.xml b/sensing/autoware_radar_tracks_noise_filter/package.xml
index 8b08507326c98..af8db58a86567 100644
--- a/sensing/autoware_radar_tracks_noise_filter/package.xml
+++ b/sensing/autoware_radar_tracks_noise_filter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_radar_tracks_noise_filter</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>autoware_radar_tracks_noise_filter</description>
   <maintainer email="satoshi.tanaka@tier4.jp">Sathshi Tanaka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst b/sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst
index b2488806af1ba..9f4f9e3e96395 100644
--- a/sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst
+++ b/sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package vehicle_velocity_converter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/sensing/autoware_vehicle_velocity_converter/package.xml b/sensing/autoware_vehicle_velocity_converter/package.xml
index 323002396c841..ce4e36855a03a 100644
--- a/sensing/autoware_vehicle_velocity_converter/package.xml
+++ b/sensing/autoware_vehicle_velocity_converter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_vehicle_velocity_converter</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_vehicle_velocity_converter package</description>
   <maintainer email="ryu.yamamoto@tier4.jp">Ryu Yamamoto</maintainer>
   <license>Apache License 2.0</license>
diff --git a/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst b/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst
index 4b0c42f440fa2..1721bb0e74007 100644
--- a/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst
+++ b/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_livox_tag_filter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/sensing/livox/autoware_livox_tag_filter/package.xml b/sensing/livox/autoware_livox_tag_filter/package.xml
index 43a4de255d9da..adb2229745789 100644
--- a/sensing/livox/autoware_livox_tag_filter/package.xml
+++ b/sensing/livox/autoware_livox_tag_filter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_livox_tag_filter</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_livox_tag_filter package</description>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
   <maintainer email="kenzo.lobos@tier4.jp">Kenzo Lobos-Tsunekawa</maintainer>
diff --git a/simulator/autoware_carla_interface/CHANGELOG.rst b/simulator/autoware_carla_interface/CHANGELOG.rst
index dee9f80052a1d..bdc1cc41bd5e0 100644
--- a/simulator/autoware_carla_interface/CHANGELOG.rst
+++ b/simulator/autoware_carla_interface/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_carla_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/simulator/autoware_carla_interface/package.xml b/simulator/autoware_carla_interface/package.xml
index d71f4d0d85924..215a7c778523f 100644
--- a/simulator/autoware_carla_interface/package.xml
+++ b/simulator/autoware_carla_interface/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_carla_interface</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The carla autoware bridge package</description>
   <maintainer email="mradityagio@gmail.com">Muhammad Raditya GIOVANNI</maintainer>
   <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
diff --git a/simulator/dummy_perception_publisher/CHANGELOG.rst b/simulator/dummy_perception_publisher/CHANGELOG.rst
index 102616f3409d9..d0483f9ebe480 100644
--- a/simulator/dummy_perception_publisher/CHANGELOG.rst
+++ b/simulator/dummy_perception_publisher/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package dummy_perception_publisher
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/simulator/dummy_perception_publisher/package.xml b/simulator/dummy_perception_publisher/package.xml
index 09c4cc63de67b..f2b60ce3ef857 100644
--- a/simulator/dummy_perception_publisher/package.xml
+++ b/simulator/dummy_perception_publisher/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>dummy_perception_publisher</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The dummy_perception_publisher package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <license>Apache License 2.0</license>
diff --git a/simulator/fault_injection/CHANGELOG.rst b/simulator/fault_injection/CHANGELOG.rst
index f62dd6c5cbc69..74ec3b4a867f4 100644
--- a/simulator/fault_injection/CHANGELOG.rst
+++ b/simulator/fault_injection/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package fault_injection
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/simulator/fault_injection/package.xml b/simulator/fault_injection/package.xml
index 7e432357139d4..25a5ceddd31be 100644
--- a/simulator/fault_injection/package.xml
+++ b/simulator/fault_injection/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>fault_injection</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>fault_injection</description>
   <maintainer email="keisuke.shima@tier4.jp">Keisuke Shima</maintainer>
   <license>Apache License 2.0</license>
diff --git a/simulator/learning_based_vehicle_model/CHANGELOG.rst b/simulator/learning_based_vehicle_model/CHANGELOG.rst
index 183535778ffec..b902713689ab1 100644
--- a/simulator/learning_based_vehicle_model/CHANGELOG.rst
+++ b/simulator/learning_based_vehicle_model/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package learning_based_vehicle_model
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/simulator/learning_based_vehicle_model/package.xml b/simulator/learning_based_vehicle_model/package.xml
index c09d152c432cb..11b5b2f88db03 100644
--- a/simulator/learning_based_vehicle_model/package.xml
+++ b/simulator/learning_based_vehicle_model/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>learning_based_vehicle_model</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>learning_based_vehicle_model for simple_planning_simulator</description>
   <maintainer email="maxime.clement@tier4.jp">Maxime Clement</maintainer>
   <maintainer email="nagy.tomas@tier4.jp">Tomas Nagy</maintainer>
diff --git a/simulator/simple_planning_simulator/CHANGELOG.rst b/simulator/simple_planning_simulator/CHANGELOG.rst
index 76c12ecf37f41..7b995d36dbf83 100644
--- a/simulator/simple_planning_simulator/CHANGELOG.rst
+++ b/simulator/simple_planning_simulator/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package simple_planning_simulator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/simulator/simple_planning_simulator/package.xml b/simulator/simple_planning_simulator/package.xml
index a81f9e2147bab..a6f86dd6e8a4b 100644
--- a/simulator/simple_planning_simulator/package.xml
+++ b/simulator/simple_planning_simulator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simple_planning_simulator</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>simple_planning_simulator as a ROS 2 node</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst b/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst
index df41afe78a70f..1d5b1d454a4a7 100644
--- a/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst
+++ b/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package tier4_dummy_object_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(tier4_dummy_object_rviz_plugin): fix missing dependency (`#9306 <https://github.com/autowarefoundation/autoware.universe/issues/9306>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/simulator/tier4_dummy_object_rviz_plugin/package.xml b/simulator/tier4_dummy_object_rviz_plugin/package.xml
index c3d8f78670502..c5ef8a68eb98f 100644
--- a/simulator/tier4_dummy_object_rviz_plugin/package.xml
+++ b/simulator/tier4_dummy_object_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_dummy_object_rviz_plugin</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The tier4_dummy_object_rviz_plugin package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <license>Apache License 2.0</license>
diff --git a/simulator/vehicle_door_simulator/CHANGELOG.rst b/simulator/vehicle_door_simulator/CHANGELOG.rst
index d825a300763f4..105292a8e63e1 100644
--- a/simulator/vehicle_door_simulator/CHANGELOG.rst
+++ b/simulator/vehicle_door_simulator/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package vehicle_door_simulator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/simulator/vehicle_door_simulator/package.xml b/simulator/vehicle_door_simulator/package.xml
index b500940602ce2..008fcb9500bfe 100644
--- a/simulator/vehicle_door_simulator/package.xml
+++ b/simulator/vehicle_door_simulator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>vehicle_door_simulator</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The vehicle_door_simulator package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <license>Apache License 2.0</license>
diff --git a/system/autoware_component_monitor/CHANGELOG.rst b/system/autoware_component_monitor/CHANGELOG.rst
index 30c97e6f41adc..224edb28d1c45 100644
--- a/system/autoware_component_monitor/CHANGELOG.rst
+++ b/system/autoware_component_monitor/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_component_monitor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/system/autoware_component_monitor/package.xml b/system/autoware_component_monitor/package.xml
index 92f2fa51f704e..5655c495b0aa7 100644
--- a/system/autoware_component_monitor/package.xml
+++ b/system/autoware_component_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_component_monitor</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>A ROS 2 package to monitor system usage of component containers.</description>
   <maintainer email="memin@leodrive.ai">Mehmet Emin Başoğlu</maintainer>
   <maintainer email="baris@leodrive.ai">Barış Zeren</maintainer>
diff --git a/system/autoware_default_adapi/CHANGELOG.rst b/system/autoware_default_adapi/CHANGELOG.rst
index 295b95531177f..64f7326264a58 100644
--- a/system/autoware_default_adapi/CHANGELOG.rst
+++ b/system/autoware_default_adapi/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_default_adapi
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 <https://github.com/autowarefoundation/autoware.universe/issues/9250>`_)
+  * refactor(autoware_ad_api_specs): prefix package and namespace with autoware
+  * style(pre-commit): autofix
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * style(pre-commit): autofix
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_default_adapi): change subscribing steering factor topic name for obstacle avoidance and lane changes (`#9273 <https://github.com/autowarefoundation/autoware.universe/issues/9273>`_)
+  feat(planning): add new steering factor topics for obstacle avoidance and lane changes
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Kyoichi Sugahara, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/system/autoware_default_adapi/package.xml b/system/autoware_default_adapi/package.xml
index f664f72234f9f..d04c476a45ae7 100644
--- a/system/autoware_default_adapi/package.xml
+++ b/system/autoware_default_adapi/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_default_adapi</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_default_adapi package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
diff --git a/system/autoware_processing_time_checker/CHANGELOG.rst b/system/autoware_processing_time_checker/CHANGELOG.rst
index 672a5db25e31c..96df106a6e4eb 100644
--- a/system/autoware_processing_time_checker/CHANGELOG.rst
+++ b/system/autoware_processing_time_checker/CHANGELOG.rst
@@ -2,6 +2,42 @@
 Changelog for package autoware_processing_time_checker
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 <https://github.com/autowarefoundation/autoware.universe/issues/9180>`_)
+  * first commit
+  * fix building errs.
+  * change diagnostic messages to metric messages for publishing decision.
+  * fix bug about motion_velocity_planner
+  * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner.
+  * tmp save for planning_evaluator
+  * change the topic to which metrics published to.
+  * fix typo.
+  * remove unnesessary publishing of metrics.
+  * mke planning_evaluator publish msg of MetricArray instead of Diags.
+  * update aeb with metric type for decision.
+  * fix some bug
+  * remove autoware_evaluator_utils package.
+  * remove diagnostic_msgs dependency of planning_evaluator
+  * use metric_msgs for autoware_processing_time_checker.
+  * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs.
+  * pre-commit and fix typo
+  * publish metrics even if there is no metric in the MetricArray.
+  * modify the metric name of processing_time.
+  * update unit test for test_planning/control_evaluator
+  * manual pre-commit
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Kem (TiankuiXian), Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/system/autoware_processing_time_checker/package.xml b/system/autoware_processing_time_checker/package.xml
index 16b225f3ef425..17b4599197407 100644
--- a/system/autoware_processing_time_checker/package.xml
+++ b/system/autoware_processing_time_checker/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_processing_time_checker</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>A package to find out nodes with common names</description>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
diff --git a/system/bluetooth_monitor/CHANGELOG.rst b/system/bluetooth_monitor/CHANGELOG.rst
index ca70113c03740..96056c8907c86 100644
--- a/system/bluetooth_monitor/CHANGELOG.rst
+++ b/system/bluetooth_monitor/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package bluetooth_monitor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/system/bluetooth_monitor/package.xml b/system/bluetooth_monitor/package.xml
index 4f6b9f38f7cb3..dfa77dd303427 100644
--- a/system/bluetooth_monitor/package.xml
+++ b/system/bluetooth_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bluetooth_monitor</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>Bluetooth alive monitoring</description>
   <maintainer email="fumihito.ito@tier4.jp">Fumihito Ito</maintainer>
   <license>Apache License 2.0</license>
diff --git a/system/component_state_monitor/CHANGELOG.rst b/system/component_state_monitor/CHANGELOG.rst
index 751b67a25a6e4..97281628626c3 100644
--- a/system/component_state_monitor/CHANGELOG.rst
+++ b/system/component_state_monitor/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package component_state_monitor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/system/component_state_monitor/package.xml b/system/component_state_monitor/package.xml
index 9e4d77878941a..60dde0d93581b 100644
--- a/system/component_state_monitor/package.xml
+++ b/system/component_state_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>component_state_monitor</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The component_state_monitor package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <license>Apache License 2.0</license>
diff --git a/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst b/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst
index 4c4f7943578bb..c60bb8204eb3e 100644
--- a/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst
+++ b/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package ad_api_adaptors
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 <https://github.com/autowarefoundation/autoware.universe/issues/9250>`_)
+  * refactor(autoware_ad_api_specs): prefix package and namespace with autoware
+  * style(pre-commit): autofix
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * style(pre-commit): autofix
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/system/default_ad_api_helpers/ad_api_adaptors/package.xml b/system/default_ad_api_helpers/ad_api_adaptors/package.xml
index f6210809122de..c91edb9232444 100644
--- a/system/default_ad_api_helpers/ad_api_adaptors/package.xml
+++ b/system/default_ad_api_helpers/ad_api_adaptors/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ad_api_adaptors</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The ad_api_adaptors package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
diff --git a/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst b/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst
index bea6efd9c2fe3..5961ee96c28d1 100644
--- a/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst
+++ b/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package ad_api_visualizers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/system/default_ad_api_helpers/ad_api_visualizers/package.xml b/system/default_ad_api_helpers/ad_api_visualizers/package.xml
index ab7d2ec4a5799..b05fe7222b923 100644
--- a/system/default_ad_api_helpers/ad_api_visualizers/package.xml
+++ b/system/default_ad_api_helpers/ad_api_visualizers/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ad_api_visualizers</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The ad_api_visualizers package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
diff --git a/system/default_ad_api_helpers/ad_api_visualizers/setup.py b/system/default_ad_api_helpers/ad_api_visualizers/setup.py
index fe2fdd46463e3..b088271ba74a7 100644
--- a/system/default_ad_api_helpers/ad_api_visualizers/setup.py
+++ b/system/default_ad_api_helpers/ad_api_visualizers/setup.py
@@ -11,7 +11,7 @@
 
 setup(
     name=package_name,
-    version="0.38.0",
+    version="0.39.0",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst b/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst
index 1e08d0eff6194..795fe18c58e29 100644
--- a/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst
+++ b/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package automatic_pose_initializer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 <https://github.com/autowarefoundation/autoware.universe/issues/9250>`_)
+  * refactor(autoware_ad_api_specs): prefix package and namespace with autoware
+  * style(pre-commit): autofix
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * style(pre-commit): autofix
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml
index 0f665cfc4f948..7a0566f478118 100644
--- a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml
+++ b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>automatic_pose_initializer</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The automatic_pose_initializer package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
diff --git a/system/diagnostic_graph_aggregator/CHANGELOG.rst b/system/diagnostic_graph_aggregator/CHANGELOG.rst
index 2398f0bb7f37f..c3824be814e01 100644
--- a/system/diagnostic_graph_aggregator/CHANGELOG.rst
+++ b/system/diagnostic_graph_aggregator/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package diagnostic_graph_aggregator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(diagnostic_graph_aggregator): implement diagnostic graph dump functionality (`#9261 <https://github.com/autowarefoundation/autoware.universe/issues/9261>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/system/diagnostic_graph_aggregator/package.xml b/system/diagnostic_graph_aggregator/package.xml
index bee03ba087e83..0b58afa330f43 100644
--- a/system/diagnostic_graph_aggregator/package.xml
+++ b/system/diagnostic_graph_aggregator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>diagnostic_graph_aggregator</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The diagnostic_graph_aggregator package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <license>Apache License 2.0</license>
diff --git a/system/diagnostic_graph_utils/CHANGELOG.rst b/system/diagnostic_graph_utils/CHANGELOG.rst
index 8d1a7606444d3..17643d9e955e5 100644
--- a/system/diagnostic_graph_utils/CHANGELOG.rst
+++ b/system/diagnostic_graph_utils/CHANGELOG.rst
@@ -2,6 +2,21 @@
 Changelog for package diagnostic_graph_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(diagnostic_graph_utils): reset graph when new one is received (`#9208 <https://github.com/autowarefoundation/autoware.universe/issues/9208>`_)
+  fix(diagnostic_graph_utils): reset graph when new one is reveived
+* Contributors: Esteve Fernandez, Takagi, Isamu, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/system/diagnostic_graph_utils/package.xml b/system/diagnostic_graph_utils/package.xml
index 2b393b4191581..d558ba26b636a 100644
--- a/system/diagnostic_graph_utils/package.xml
+++ b/system/diagnostic_graph_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>diagnostic_graph_utils</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The diagnostic_graph_utils package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <license>Apache License 2.0</license>
diff --git a/system/dummy_diag_publisher/CHANGELOG.rst b/system/dummy_diag_publisher/CHANGELOG.rst
index 1fef1964efc56..7f50608ce061b 100644
--- a/system/dummy_diag_publisher/CHANGELOG.rst
+++ b/system/dummy_diag_publisher/CHANGELOG.rst
@@ -2,6 +2,28 @@
 Changelog for package dummy_diag_publisher
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(dummy_diag_publisher): not use diagnostic_updater and param callback (`#9257 <https://github.com/autowarefoundation/autoware.universe/issues/9257>`_)
+  * fix(dummy_diag_publisher): not use diagnostic_updater and param callback for v0.29.0 (`#1414 <https://github.com/autowarefoundation/autoware.universe/issues/1414>`_)
+  fix(dummy_diag_publisher): not use diagnostic_updater and param callback
+  Co-authored-by: h-ohta <hiroki.ota@tier4.jp>
+  * fix: resolve build error of dummy diag publisher (`#1415 <https://github.com/autowarefoundation/autoware.universe/issues/1415>`_)
+  fix merge conflict
+  ---------
+  Co-authored-by: Shohei Sakai <saka1s.jp@gmail.com>
+  Co-authored-by: h-ohta <hiroki.ota@tier4.jp>
+* Contributors: Esteve Fernandez, Yuki TAKAGI, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/system/dummy_diag_publisher/package.xml b/system/dummy_diag_publisher/package.xml
index 6029314232100..d5693da6db8c6 100644
--- a/system/dummy_diag_publisher/package.xml
+++ b/system/dummy_diag_publisher/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>dummy_diag_publisher</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The dummy_diag_publisher ROS 2 package</description>
   <maintainer email="fumihito.ito@tier4.jp">Fumihito Ito</maintainer>
   <maintainer email="tetsuhiro.kawaguchi@tier4.jp">TetsuKawa</maintainer>
diff --git a/system/dummy_infrastructure/CHANGELOG.rst b/system/dummy_infrastructure/CHANGELOG.rst
index 25c3bf5d0f6a3..e7ce27fe644e7 100644
--- a/system/dummy_infrastructure/CHANGELOG.rst
+++ b/system/dummy_infrastructure/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package dummy_infrastructure
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/system/dummy_infrastructure/package.xml b/system/dummy_infrastructure/package.xml
index 431845825f3d5..b72927cd47162 100644
--- a/system/dummy_infrastructure/package.xml
+++ b/system/dummy_infrastructure/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>dummy_infrastructure</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>dummy_infrastructure</description>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
   <license>Apache License 2.0</license>
diff --git a/system/duplicated_node_checker/CHANGELOG.rst b/system/duplicated_node_checker/CHANGELOG.rst
index 406406b49daeb..d44d9508aac6c 100644
--- a/system/duplicated_node_checker/CHANGELOG.rst
+++ b/system/duplicated_node_checker/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package duplicated_node_checker
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/system/duplicated_node_checker/package.xml b/system/duplicated_node_checker/package.xml
index 5b699d014b5f0..12eb39f8ead30 100644
--- a/system/duplicated_node_checker/package.xml
+++ b/system/duplicated_node_checker/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>duplicated_node_checker</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>A package to find out nodes with common names</description>
   <maintainer email="shumpei.wakabayashi@tier4.jp">Shumpei Wakabayashi</maintainer>
   <maintainer email="uken.ryu@tier4.jp">yliuhb</maintainer>
diff --git a/system/hazard_status_converter/CHANGELOG.rst b/system/hazard_status_converter/CHANGELOG.rst
index c0f54a85f3b27..d3f4488b00836 100644
--- a/system/hazard_status_converter/CHANGELOG.rst
+++ b/system/hazard_status_converter/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package hazard_status_converter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/system/hazard_status_converter/package.xml b/system/hazard_status_converter/package.xml
index 7d154abb7b26c..e53847459ea39 100644
--- a/system/hazard_status_converter/package.xml
+++ b/system/hazard_status_converter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>hazard_status_converter</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The hazard_status_converter package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <license>Apache License 2.0</license>
diff --git a/system/mrm_comfortable_stop_operator/CHANGELOG.rst b/system/mrm_comfortable_stop_operator/CHANGELOG.rst
index 1da165fc4b710..fc403b6a366ff 100644
--- a/system/mrm_comfortable_stop_operator/CHANGELOG.rst
+++ b/system/mrm_comfortable_stop_operator/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package mrm_comfortable_stop_operator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/system/mrm_comfortable_stop_operator/package.xml b/system/mrm_comfortable_stop_operator/package.xml
index 92a9569bf329a..ec8508f691439 100644
--- a/system/mrm_comfortable_stop_operator/package.xml
+++ b/system/mrm_comfortable_stop_operator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>mrm_comfortable_stop_operator</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The MRM comfortable stop operator package</description>
   <maintainer email="makoto.kurihara@tier4.jp">Makoto Kurihara</maintainer>
   <maintainer email="tomohito.ando@tier4.jp">Tomohito Ando</maintainer>
diff --git a/system/mrm_emergency_stop_operator/CHANGELOG.rst b/system/mrm_emergency_stop_operator/CHANGELOG.rst
index e8a4611e43299..6ace9fa84cc90 100644
--- a/system/mrm_emergency_stop_operator/CHANGELOG.rst
+++ b/system/mrm_emergency_stop_operator/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package mrm_emergency_stop_operator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/system/mrm_emergency_stop_operator/package.xml b/system/mrm_emergency_stop_operator/package.xml
index 402a94f305cfe..8be2e83484c17 100644
--- a/system/mrm_emergency_stop_operator/package.xml
+++ b/system/mrm_emergency_stop_operator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>mrm_emergency_stop_operator</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The MRM emergency stop operator package</description>
   <maintainer email="makoto.kurihara@tier4.jp">Makoto Kurihara</maintainer>
   <maintainer email="tomohito.ando@tier4.jp">Tomohito Ando</maintainer>
diff --git a/system/mrm_handler/CHANGELOG.rst b/system/mrm_handler/CHANGELOG.rst
index 92b7cb8a59351..4792246b01e86 100644
--- a/system/mrm_handler/CHANGELOG.rst
+++ b/system/mrm_handler/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package mrm_handler
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/system/mrm_handler/package.xml b/system/mrm_handler/package.xml
index 93959a6931794..78d6b631799bf 100644
--- a/system/mrm_handler/package.xml
+++ b/system/mrm_handler/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>mrm_handler</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The mrm_handler ROS 2 package</description>
   <maintainer email="makoto.kurihara@tier4.jp">Makoto Kurihara</maintainer>
   <maintainer email="ryuta.kambe@tier4.jp">Ryuta Kambe</maintainer>
diff --git a/system/system_diagnostic_monitor/CHANGELOG.rst b/system/system_diagnostic_monitor/CHANGELOG.rst
index f25eab5c7fed4..faf15ad273924 100644
--- a/system/system_diagnostic_monitor/CHANGELOG.rst
+++ b/system/system_diagnostic_monitor/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package system_diagnostic_monitor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/system/system_diagnostic_monitor/package.xml b/system/system_diagnostic_monitor/package.xml
index 54031a2e82daa..657268589c5a2 100644
--- a/system/system_diagnostic_monitor/package.xml
+++ b/system/system_diagnostic_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>system_diagnostic_monitor</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The system_diagnostic_monitor package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <license>Apache License 2.0</license>
diff --git a/system/system_monitor/CHANGELOG.rst b/system/system_monitor/CHANGELOG.rst
index b5c97c09e28df..7759f315830d2 100644
--- a/system/system_monitor/CHANGELOG.rst
+++ b/system/system_monitor/CHANGELOG.rst
@@ -2,6 +2,28 @@
 Changelog for package system_monitor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* feat(system_monitor): add on/off config for network traffic monitor (`#9069 <https://github.com/autowarefoundation/autoware.universe/issues/9069>`_)
+  * feat(system_monitor): add config for network traffic monitor
+  * fix: change function name from stop to skip
+  ---------
+* feat(system_monitor): support loopback network interface (`#9067 <https://github.com/autowarefoundation/autoware.universe/issues/9067>`_)
+  * feat(system_monitor): support loopback network interface
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* Contributors: Esteve Fernandez, Yutaka Kondo, iwatake
+
 0.38.0 (2024-11-08)
 -------------------
 * remove system_monitor/CHANGELOG.rst
diff --git a/system/system_monitor/package.xml b/system/system_monitor/package.xml
index e1a872812660d..1044cb2fde474 100644
--- a/system/system_monitor/package.xml
+++ b/system/system_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>system_monitor</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The system_monitor package</description>
   <maintainer email="fumihito.ito@tier4.jp">Fumihito Ito</maintainer>
   <maintainer email="tetsuhiro.kawaguchi@tier4.jp">TetsuKawa</maintainer>
diff --git a/system/topic_state_monitor/CHANGELOG.rst b/system/topic_state_monitor/CHANGELOG.rst
index 8c636a421375c..6f7c71abcf683 100644
--- a/system/topic_state_monitor/CHANGELOG.rst
+++ b/system/topic_state_monitor/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package topic_state_monitor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/system/topic_state_monitor/package.xml b/system/topic_state_monitor/package.xml
index d0521145b9fec..b6e517aec34bb 100644
--- a/system/topic_state_monitor/package.xml
+++ b/system/topic_state_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>topic_state_monitor</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The topic_state_monitor package</description>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
   <license>Apache License 2.0</license>
diff --git a/system/velodyne_monitor/CHANGELOG.rst b/system/velodyne_monitor/CHANGELOG.rst
index ca10466633e36..717865b43d5ea 100644
--- a/system/velodyne_monitor/CHANGELOG.rst
+++ b/system/velodyne_monitor/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package velodyne_monitor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/system/velodyne_monitor/package.xml b/system/velodyne_monitor/package.xml
index c37dac15a48aa..665e6ab87c575 100644
--- a/system/velodyne_monitor/package.xml
+++ b/system/velodyne_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>velodyne_monitor</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The velodyne_monitor package</description>
   <maintainer email="fumihito.ito@tier4.jp">Fumihito Ito</maintainer>
   <license>Apache License 2.0</license>
diff --git a/tools/reaction_analyzer/CHANGELOG.rst b/tools/reaction_analyzer/CHANGELOG.rst
index 81084ba8724c4..740affa42f42a 100644
--- a/tools/reaction_analyzer/CHANGELOG.rst
+++ b/tools/reaction_analyzer/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package reaction_analyzer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/tools/reaction_analyzer/package.xml b/tools/reaction_analyzer/package.xml
index 8ec8f924edc1f..b3b1f69421fe7 100644
--- a/tools/reaction_analyzer/package.xml
+++ b/tools/reaction_analyzer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>reaction_analyzer</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>Analyzer that measures reaction times of the nodes</description>
 
   <maintainer email="berkay@leodrive.ai">Berkay Karaman</maintainer>
diff --git a/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst b/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst
index 1c025329b3417..b53b0b225a141 100644
--- a/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst
+++ b/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_accel_brake_map_calibrator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/vehicle/autoware_accel_brake_map_calibrator/package.xml b/vehicle/autoware_accel_brake_map_calibrator/package.xml
index ef8ebb9df5625..00ed9af04e5da 100644
--- a/vehicle/autoware_accel_brake_map_calibrator/package.xml
+++ b/vehicle/autoware_accel_brake_map_calibrator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_accel_brake_map_calibrator</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The accel_brake_map_calibrator</description>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
diff --git a/vehicle/autoware_external_cmd_converter/CHANGELOG.rst b/vehicle/autoware_external_cmd_converter/CHANGELOG.rst
index 058678773d251..7c1df55f31c03 100644
--- a/vehicle/autoware_external_cmd_converter/CHANGELOG.rst
+++ b/vehicle/autoware_external_cmd_converter/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_external_cmd_converter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/vehicle/autoware_external_cmd_converter/package.xml b/vehicle/autoware_external_cmd_converter/package.xml
index 35003f624c704..146327e6ca4b4 100644
--- a/vehicle/autoware_external_cmd_converter/package.xml
+++ b/vehicle/autoware_external_cmd_converter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_external_cmd_converter</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_external_cmd_converter package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="eiki.nagata.2@tier4.jp">Eiki Nagata</maintainer>
diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst b/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst
index 483f8cbd12c60..5c9572a7b712d 100644
--- a/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_raw_vehicle_cmd_converter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml
index 41bbff445ba7e..1e3b265127a63 100644
--- a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_raw_vehicle_cmd_converter</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The autoware_raw_vehicle_cmd_converter package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="taiki.tanaka@tier4.jp">Tanaka Taiki</maintainer>
diff --git a/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst b/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst
index 9a421dc7a35bf..8838f8de5c5d5 100644
--- a/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst
+++ b/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package autoware_steer_offset_estimator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.39.0 (2024-11-25)
+-------------------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Yutaka Kondo
+
 0.38.0 (2024-11-08)
 -------------------
 * unify package.xml version to 0.37.0
diff --git a/vehicle/autoware_steer_offset_estimator/package.xml b/vehicle/autoware_steer_offset_estimator/package.xml
index 27096dd20ab28..e3e633562b98a 100644
--- a/vehicle/autoware_steer_offset_estimator/package.xml
+++ b/vehicle/autoware_steer_offset_estimator/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_steer_offset_estimator</name>
-  <version>0.38.0</version>
+  <version>0.39.0</version>
   <description>The steer_offset_estimator</description>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
   <license>Apache License 2.0</license>

From 90bf2d07efebba88571e6e6218fa34a70ce85044 Mon Sep 17 00:00:00 2001
From: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Date: Sat, 7 Dec 2024 17:35:31 +0900
Subject: [PATCH 03/36] fix(goal_planner): fix isStopped judgement (#9585)

* fix(goal_planner): fix isStopped judgement

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* fix typo

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

---------

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
---
 .../goal_planner_module.hpp                       |  3 ++-
 .../src/goal_planner_module.cpp                   | 15 ++++++++++-----
 2 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp
index 914da46e60180..09acced162abd 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp
@@ -158,7 +158,8 @@ bool checkOccupancyGridCollision(
 
 bool isStopped(
   std::deque<nav_msgs::msg::Odometry::ConstSharedPtr> & odometry_buffer,
-  const nav_msgs::msg::Odometry::ConstSharedPtr self_odometry, const double duration_lower);
+  const nav_msgs::msg::Odometry::ConstSharedPtr self_odometry, const double duration_lower,
+  const double velocity_upper);
 
 // Flag class for managing whether a certain callback is running in multi-threading
 class ScopedFlag
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
index 01d06a4964c61..716047c7ad1f1 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
@@ -244,7 +244,8 @@ bool checkOccupancyGridCollision(
 
 bool isStopped(
   std::deque<nav_msgs::msg::Odometry::ConstSharedPtr> & odometry_buffer,
-  const nav_msgs::msg::Odometry::ConstSharedPtr self_odometry, const double duration_lower)
+  const nav_msgs::msg::Odometry::ConstSharedPtr self_odometry, const double duration_lower,
+  const double velocity_upper)
 {
   odometry_buffer.push_back(self_odometry);
   // Delete old data in buffer_stuck_
@@ -259,7 +260,7 @@ bool isStopped(
   bool is_stopped = true;
   for (const auto & odometry : odometry_buffer) {
     const double ego_vel = utils::l2Norm(odometry->twist.twist.linear);
-    if (ego_vel > duration_lower) {
+    if (ego_vel > velocity_upper) {
       is_stopped = false;
       break;
     }
@@ -879,7 +880,8 @@ bool GoalPlannerModule::canReturnToLaneParking(const PullOverContextData & conte
 {
   // return only before starting free space parking
   if (!isStopped(
-        odometry_buffer_stopped_, planner_data_->self_odometry, parameters_->th_stopped_time)) {
+        odometry_buffer_stopped_, planner_data_->self_odometry, parameters_->th_stopped_time,
+        parameters_->th_stopped_velocity)) {
     return false;
   }
 
@@ -1760,7 +1762,9 @@ bool GoalPlannerModule::isStuck(
   }
 
   constexpr double stuck_time = 5.0;
-  if (!isStopped(odometry_buffer_stuck_, planner_data->self_odometry, stuck_time)) {
+  if (!isStopped(
+        odometry_buffer_stuck_, planner_data->self_odometry, stuck_time,
+        parameters_->th_stopped_velocity)) {
     return false;
   }
 
@@ -1801,7 +1805,8 @@ bool GoalPlannerModule::hasFinishedCurrentPath(const PullOverContextData & ctx_d
   }
 
   if (!isStopped(
-        odometry_buffer_stopped_, planner_data_->self_odometry, parameters_->th_stopped_time)) {
+        odometry_buffer_stopped_, planner_data_->self_odometry, parameters_->th_stopped_time,
+        parameters_->th_stopped_velocity)) {
     return false;
   }
 

From 47bbb1cf035c69ab8b9bf2eff87b268b5d37d985 Mon Sep 17 00:00:00 2001
From: Ryuta Kambe <ryuta.kambe@tier4.jp>
Date: Mon, 9 Dec 2024 10:40:58 +0900
Subject: [PATCH 04/36] fix(autoware_behavior_velocity_stop_line_module):
 remove unused function (#9591)

Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp>
---
 .../src/scene.cpp                                        | 9 ---------
 1 file changed, 9 deletions(-)

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
index 4d8dea94583bb..2a9c5dab1ebd9 100644
--- 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
@@ -26,15 +26,6 @@
 namespace autoware::behavior_velocity_planner
 {
 
-geometry_msgs::msg::Point getCenterOfStopLine(const lanelet::ConstLineString3d & stop_line)
-{
-  geometry_msgs::msg::Point center_point;
-  center_point.x = (stop_line[0].x() + stop_line[1].x()) / 2.0;
-  center_point.y = (stop_line[0].y() + stop_line[1].y()) / 2.0;
-  center_point.z = (stop_line[0].z() + stop_line[1].z()) / 2.0;
-  return center_point;
-}
-
 StopLineModule::StopLineModule(
   const int64_t module_id, lanelet::ConstLineString3d stop_line, const PlannerParam & planner_param,
   const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock)

From 9553414c614009ca8db33521d4a1a68e430cce7a Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Mon, 9 Dec 2024 12:05:38 +0900
Subject: [PATCH 05/36] fix(autoware_image_projection_based_fusion): detected
 object roi box projection fix (#9519)

* fix: detected object roi box projection fix

1. eliminate misuse of std::numeric_limits<double>::min()
2. fix roi range up to the image edges

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: fix roi range calculation in RoiDetectedObjectFusionNode

Improve the calculation of the region of interest (ROI) in the RoiDetectedObjectFusionNode. The previous code had an issue where the ROI range was not correctly limited to the image edges. This fix ensures that the ROI is within the image boundaries by using the correct comparison operators for the x and y coordinates.

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../src/roi_detected_object_fusion/node.cpp   | 25 ++++++++-----------
 1 file changed, 11 insertions(+), 14 deletions(-)

diff --git a/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp
index 134dd7bad9129..3ef3af8168f53 100644
--- a/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp
+++ b/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp
@@ -146,8 +146,7 @@ RoiDetectedObjectFusionNode::generateDetectedObjectRoIs(
       transformPoints(vertices, object2camera_affine, vertices_camera_coord);
     }
 
-    double min_x(std::numeric_limits<double>::max()), min_y(std::numeric_limits<double>::max()),
-      max_x(std::numeric_limits<double>::min()), max_y(std::numeric_limits<double>::min());
+    double min_x(image_width), min_y(image_height), max_x(0.0), max_y(0.0);
     std::size_t point_on_image_cnt = 0;
     for (const auto & point : vertices_camera_coord) {
       if (point.z() <= 0.0) {
@@ -164,8 +163,8 @@ RoiDetectedObjectFusionNode::generateDetectedObjectRoIs(
       max_y = std::max(proj_point.y(), max_y);
 
       if (
-        proj_point.x() >= 0 && proj_point.x() <= image_width - 1 && proj_point.y() >= 0 &&
-        proj_point.y() <= image_height - 1) {
+        proj_point.x() >= 0 && proj_point.x() < image_width && proj_point.y() >= 0 &&
+        proj_point.y() < image_height) {
         point_on_image_cnt++;
 
         if (debugger_) {
@@ -177,18 +176,16 @@ RoiDetectedObjectFusionNode::generateDetectedObjectRoIs(
       continue;
     }
 
-    min_x = std::max(min_x, 0.0);
-    min_y = std::max(min_y, 0.0);
-    max_x = std::min(max_x, image_width - 1);
-    max_y = std::min(max_y, image_height - 1);
+    const uint32_t idx_min_x = std::floor(std::max(min_x, 0.0));
+    const uint32_t idx_min_y = std::floor(std::max(min_y, 0.0));
+    const uint32_t idx_max_x = std::ceil(std::min(max_x, image_width));
+    const uint32_t idx_max_y = std::ceil(std::min(max_y, image_height));
 
     DetectedObjectWithFeature object_roi;
-    object_roi.feature.roi.x_offset = static_cast<std::uint32_t>(min_x);
-    object_roi.feature.roi.y_offset = static_cast<std::uint32_t>(min_y);
-    object_roi.feature.roi.width =
-      static_cast<std::uint32_t>(max_x) - static_cast<std::uint32_t>(min_x);
-    object_roi.feature.roi.height =
-      static_cast<std::uint32_t>(max_y) - static_cast<std::uint32_t>(min_y);
+    object_roi.feature.roi.x_offset = idx_min_x;
+    object_roi.feature.roi.y_offset = idx_min_y;
+    object_roi.feature.roi.width = idx_max_x - idx_min_x;
+    object_roi.feature.roi.height = idx_max_y - idx_min_y;
     object_roi.object = object;
     object_roi_map.insert(std::make_pair(obj_i, object_roi));
 

From dbdf9a16d83267c4d9a5f99b0e442c9f997ab2c7 Mon Sep 17 00:00:00 2001
From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
Date: Mon, 9 Dec 2024 21:26:07 +0900
Subject: [PATCH 06/36] fix(lane_change): check obj predicted path when
 filtering (#9385)

* RT1-8537 check object's predicted path when filtering

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* use ranges view in get_line_string_paths

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* check only vehicle type predicted path

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* Refactor naming

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* fix grammatical

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp

Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>

* precommit and grammar fix

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

---------

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
---
 .../utils/utils.hpp                           | 17 ++++++++++
 .../src/scene.cpp                             |  1 +
 .../src/utils/utils.cpp                       | 34 +++++++++++--------
 .../path_safety_checker/objects_filtering.hpp | 10 ++++++
 .../path_safety_checker/objects_filtering.cpp | 14 ++++++++
 5 files changed, 62 insertions(+), 14 deletions(-)

diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp
index 7c1c8e2c65abe..5dcd132f16377 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp
@@ -382,5 +382,22 @@ bool filter_target_lane_objects(
   const double dist_ego_to_current_lanes_center, const bool ahead_of_ego,
   const bool before_terminal, TargetLaneLeadingObjects & leading_objects,
   ExtendedPredictedObjects & trailing_objects);
+
+/**
+ * @brief Determines if the object's predicted path overlaps with the given lane polygon.
+ *
+ * This function checks whether any of the line string paths derived from the object's predicted
+ * trajectories intersect or overlap with the specified polygon representing lanes.
+ *
+ * @param object The extended predicted object containing predicted trajectories and initial
+ * polygon.
+ * @param lanes_polygon A polygon representing the lanes to check for overlaps with the object's
+ * paths.
+ *
+ * @return true if any of the object's predicted paths overlap with the lanes polygon, false
+ * otherwise.
+ */
+bool object_path_overlaps_lanes(
+  const ExtendedPredictedObject & object, const lanelet::BasicPolygon2d & lanes_polygon);
 }  // namespace autoware::behavior_path_planner::utils::lane_change
 #endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__UTILS_HPP_
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
index 99e7cc73e59ff..2770831dbc485 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
@@ -988,6 +988,7 @@ lane_change::TargetObjects NormalLaneChange::get_target_objects(
 
 FilteredLanesObjects NormalLaneChange::filter_objects() const
 {
+  universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);
   auto objects = *planner_data_->dynamic_object;
   utils::path_safety_checker::filterObjectsByClass(
     objects, lane_change_parameters_->safety.target_object_types);
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
index 9ab6ac288dfd4..4d46f8270fac3 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
@@ -35,6 +35,8 @@
 #include <autoware_lanelet2_extension/utility/utilities.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info.hpp>
 #include <range/v3/algorithm/any_of.hpp>
+#include <range/v3/range/conversion.hpp>
+#include <range/v3/view/transform.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <geometry_msgs/msg/detail/pose__struct.hpp>
@@ -1149,11 +1151,8 @@ std::vector<LineString2d> get_line_string_paths(const ExtendedPredictedObject &
     return line_string;
   };
 
-  const auto paths = object.predicted_paths;
-  std::vector<LineString2d> line_strings;
-  std::transform(paths.begin(), paths.end(), std::back_inserter(line_strings), to_linestring_2d);
-
-  return line_strings;
+  return object.predicted_paths | ranges::views::transform(to_linestring_2d) |
+         ranges::to<std::vector>();
 }
 
 bool has_overtaking_turn_lane_object(
@@ -1164,10 +1163,6 @@ bool has_overtaking_turn_lane_object(
     return false;
   }
 
-  const auto is_path_overlap_with_target = [&](const LineString2d & path) {
-    return !boost::geometry::disjoint(path, common_data_ptr->lanes_polygon_ptr->target);
-  };
-
   const auto is_object_overlap_with_target = [&](const auto & object) {
     // to compensate for perception issue, or if object is from behind ego, and tries to overtake,
     // but stop all of sudden
@@ -1176,8 +1171,7 @@ bool has_overtaking_turn_lane_object(
       return true;
     }
 
-    const auto paths = get_line_string_paths(object);
-    return std::any_of(paths.begin(), paths.end(), is_path_overlap_with_target);
+    return object_path_overlaps_lanes(object, common_data_ptr->lanes_polygon_ptr->target);
   };
 
   return std::any_of(
@@ -1190,6 +1184,7 @@ bool filter_target_lane_objects(
   const bool before_terminal, TargetLaneLeadingObjects & leading_objects,
   ExtendedPredictedObjects & trailing_objects)
 {
+  using behavior_path_planner::utils::path_safety_checker::filter::is_vehicle;
   using behavior_path_planner::utils::path_safety_checker::filter::velocity_filter;
   const auto & current_lanes = common_data_ptr->lanes_ptr->current;
   const auto & vehicle_width = common_data_ptr->bpp_param_ptr->vehicle_info.vehicle_width_m;
@@ -1206,9 +1201,12 @@ bool filter_target_lane_objects(
   const auto is_stopped = velocity_filter(
     object.initial_twist, -std::numeric_limits<double>::epsilon(), stopped_obj_vel_th);
   if (is_lateral_far && before_terminal) {
-    const auto in_target_lanes =
-      !boost::geometry::disjoint(object.initial_polygon, lanes_polygon.target);
-    if (in_target_lanes) {
+    const auto overlapping_with_target_lanes =
+      !boost::geometry::disjoint(object.initial_polygon, lanes_polygon.target) ||
+      (!is_stopped && is_vehicle(object.classification) &&
+       object_path_overlaps_lanes(object, lanes_polygon.target));
+
+    if (overlapping_with_target_lanes) {
       if (!ahead_of_ego && !is_stopped) {
         trailing_objects.push_back(object);
         return true;
@@ -1247,4 +1245,12 @@ bool filter_target_lane_objects(
 
   return false;
 }
+
+bool object_path_overlaps_lanes(
+  const ExtendedPredictedObject & object, const lanelet::BasicPolygon2d & lanes_polygon)
+{
+  return ranges::any_of(get_line_string_paths(object), [&](const auto & path) {
+    return !boost::geometry::disjoint(path, lanes_polygon);
+  });
+}
 }  // namespace autoware::behavior_path_planner::utils::lane_change
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp
index 5c29f347ad9ef..2ed9fdd9197df 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp
@@ -71,6 +71,16 @@ bool is_within_circle(
   const geometry_msgs::msg::Point & object_pos, const geometry_msgs::msg::Point & reference_point,
   const double search_radius);
 
+/**
+ * @brief Checks if the object classification represents a vehicle (CAR, TRUCK, BUS, TRAILER,
+ * MOTORCYCLE).
+ *
+ * @param classification The object classification to check.
+ * @return true If the classification is a vehicle type.
+ * @return false Otherwise.
+ */
+bool is_vehicle(const ObjectClassification & classification);
+
 }  // namespace autoware::behavior_path_planner::utils::path_safety_checker::filter
 
 namespace autoware::behavior_path_planner::utils::path_safety_checker
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp
index 1caf287ee5386..00e9a0f567e7c 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp
@@ -57,6 +57,20 @@ bool is_within_circle(
     std::hypot(reference_point.x - object_pos.x, reference_point.y - object_pos.y);
   return dist < search_radius;
 }
+
+bool is_vehicle(const ObjectClassification & classification)
+{
+  switch (classification.label) {
+    case ObjectClassification::CAR:
+    case ObjectClassification::TRUCK:
+    case ObjectClassification::BUS:
+    case ObjectClassification::TRAILER:
+    case ObjectClassification::MOTORCYCLE:
+      return true;
+    default:
+      return false;
+  }
+}
 }  // namespace autoware::behavior_path_planner::utils::path_safety_checker::filter
 
 namespace autoware::behavior_path_planner::utils::path_safety_checker

From ca507d610127e2ade4ae4574fe0c2e3e81837a18 Mon Sep 17 00:00:00 2001
From: Esteve Fernandez <33620+esteve@users.noreply.github.com>
Date: Mon, 9 Dec 2024 14:00:11 +0100
Subject: [PATCH 07/36] chore: move rviz plugins from common to visualization/
 folder (#9417)

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
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 rename {common => visualization}/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/LICENSE (100%)
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 rename {common => visualization}/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.cpp (100%)
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 rename {common => visualization}/tier4_vehicle_rviz_plugin/src/tools/console_meter.cpp (100%)
 rename {common => visualization}/tier4_vehicle_rviz_plugin/src/tools/console_meter.hpp (100%)
 rename {common => visualization}/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.cpp (100%)
 rename {common => visualization}/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.hpp (100%)
 rename {common => visualization}/tier4_vehicle_rviz_plugin/src/tools/steering_angle.cpp (100%)
 rename {common => visualization}/tier4_vehicle_rviz_plugin/src/tools/steering_angle.hpp (100%)
 rename {common => visualization}/tier4_vehicle_rviz_plugin/src/tools/turn_signal.cpp (100%)
 rename {common => visualization}/tier4_vehicle_rviz_plugin/src/tools/turn_signal.hpp (100%)
 rename {common => visualization}/tier4_vehicle_rviz_plugin/src/tools/velocity_history.cpp (100%)
 rename {common => visualization}/tier4_vehicle_rviz_plugin/src/tools/velocity_history.hpp (100%)

diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst
rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst
diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CMakeLists.txt b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CMakeLists.txt
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CMakeLists.txt
rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CMakeLists.txt
diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/LICENSE b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/LICENSE
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/LICENSE
rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/LICENSE
diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/README.md b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/README.md
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/README.md
rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/README.md
diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/av_timer.png b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/av_timer.png
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/av_timer.png
rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/av_timer.png
diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/LICENSE b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/LICENSE
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/LICENSE
rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/LICENSE
diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf
rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf
diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf
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rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf
rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf
diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/path.png b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/path.png
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/path.png
rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/path.png
diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin-extras.cmake b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin-extras.cmake
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin-extras.cmake
rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin-extras.cmake
diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/mission_details_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/mission_details_display.hpp
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/mission_details_display.hpp
rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/mission_details_display.hpp
diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/overlay_utils.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/overlay_utils.hpp
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/overlay_utils.hpp
rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/overlay_utils.hpp
diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/remaining_distance_time_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/remaining_distance_time_display.hpp
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/remaining_distance_time_display.hpp
rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/remaining_distance_time_display.hpp
diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml
rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml
diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/plugins_description.xml b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/plugins_description.xml
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/plugins_description.xml
rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/plugins_description.xml
diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp
rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp
diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/overlay_utils.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/overlay_utils.cpp
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/overlay_utils.cpp
rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/overlay_utils.cpp
diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp
rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/LICENSE b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/LICENSE
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/LICENSE
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/LICENSE
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/LICENSE b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/LICENSE
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/LICENSE
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/LICENSE
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Light.ttf b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Light.ttf
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Light.ttf
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Light.ttf
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Medium.ttf b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Medium.ttf
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Medium.ttf
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Medium.ttf
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-SemiBold.ttf b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-SemiBold.ttf
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rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-SemiBold.ttf
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-SemiBold.ttf
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/arrow.png b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/arrow.png
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/arrow.png
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/arrow.png
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_add.png b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_add.png
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_add.png
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_add.png
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_topic_name.png b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_topic_name.png
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rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_topic_name.png
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_topic_name.png
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/traffic.png b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/traffic.png
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/traffic.png
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/traffic.png
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/wheel.png b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/wheel.png
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/wheel.png
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/wheel.png
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin-extras.cmake b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin-extras.cmake
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin-extras.cmake
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin-extras.cmake
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/plugins_description.xml b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/plugins_description.xml
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/plugins_description.xml
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/plugins_description.xml
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_utils.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_utils.cpp
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_utils.cpp
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_utils.cpp
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp
similarity index 100%
rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp
rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp
diff --git a/common/autoware_perception_rviz_plugin/CHANGELOG.rst b/visualization/autoware_perception_rviz_plugin/CHANGELOG.rst
similarity index 100%
rename from common/autoware_perception_rviz_plugin/CHANGELOG.rst
rename to visualization/autoware_perception_rviz_plugin/CHANGELOG.rst
diff --git a/common/autoware_perception_rviz_plugin/CMakeLists.txt b/visualization/autoware_perception_rviz_plugin/CMakeLists.txt
similarity index 100%
rename from common/autoware_perception_rviz_plugin/CMakeLists.txt
rename to visualization/autoware_perception_rviz_plugin/CMakeLists.txt
diff --git a/common/autoware_perception_rviz_plugin/README.md b/visualization/autoware_perception_rviz_plugin/README.md
similarity index 100%
rename from common/autoware_perception_rviz_plugin/README.md
rename to visualization/autoware_perception_rviz_plugin/README.md
diff --git a/common/autoware_perception_rviz_plugin/icons/classes/DetectedObjects.png b/visualization/autoware_perception_rviz_plugin/icons/classes/DetectedObjects.png
similarity index 100%
rename from common/autoware_perception_rviz_plugin/icons/classes/DetectedObjects.png
rename to visualization/autoware_perception_rviz_plugin/icons/classes/DetectedObjects.png
diff --git a/common/autoware_perception_rviz_plugin/icons/classes/PredictedObjects.png b/visualization/autoware_perception_rviz_plugin/icons/classes/PredictedObjects.png
similarity index 100%
rename from common/autoware_perception_rviz_plugin/icons/classes/PredictedObjects.png
rename to visualization/autoware_perception_rviz_plugin/icons/classes/PredictedObjects.png
diff --git a/common/autoware_perception_rviz_plugin/icons/classes/TrackedObjects.png b/visualization/autoware_perception_rviz_plugin/icons/classes/TrackedObjects.png
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rename from common/autoware_perception_rviz_plugin/icons/classes/TrackedObjects.png
rename to visualization/autoware_perception_rviz_plugin/icons/classes/TrackedObjects.png
diff --git a/common/autoware_perception_rviz_plugin/images/detected-object-visualization-description.jpg b/visualization/autoware_perception_rviz_plugin/images/detected-object-visualization-description.jpg
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rename from common/autoware_perception_rviz_plugin/images/detected-object-visualization-description.jpg
rename to visualization/autoware_perception_rviz_plugin/images/detected-object-visualization-description.jpg
diff --git a/common/autoware_perception_rviz_plugin/images/predicted-object-visualization-description.jpg b/visualization/autoware_perception_rviz_plugin/images/predicted-object-visualization-description.jpg
similarity index 100%
rename from common/autoware_perception_rviz_plugin/images/predicted-object-visualization-description.jpg
rename to visualization/autoware_perception_rviz_plugin/images/predicted-object-visualization-description.jpg
diff --git a/common/autoware_perception_rviz_plugin/images/tracked-object-visualization-description.jpg b/visualization/autoware_perception_rviz_plugin/images/tracked-object-visualization-description.jpg
similarity index 100%
rename from common/autoware_perception_rviz_plugin/images/tracked-object-visualization-description.jpg
rename to visualization/autoware_perception_rviz_plugin/images/tracked-object-visualization-description.jpg
diff --git a/common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/common/color_alpha_property.hpp b/visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/common/color_alpha_property.hpp
similarity index 100%
rename from common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/common/color_alpha_property.hpp
rename to visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/common/color_alpha_property.hpp
diff --git a/common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/detected_objects_display.hpp b/visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/detected_objects_display.hpp
similarity index 100%
rename from common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/detected_objects_display.hpp
rename to visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/detected_objects_display.hpp
diff --git a/common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_detail.hpp b/visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_detail.hpp
similarity index 100%
rename from common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_detail.hpp
rename to visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_detail.hpp
diff --git a/common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp b/visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp
similarity index 100%
rename from common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp
rename to visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp
diff --git a/common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/predicted_objects_display.hpp b/visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/predicted_objects_display.hpp
similarity index 100%
rename from common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/predicted_objects_display.hpp
rename to visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/predicted_objects_display.hpp
diff --git a/common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/tracked_objects_display.hpp b/visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/tracked_objects_display.hpp
similarity index 100%
rename from common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/tracked_objects_display.hpp
rename to visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/tracked_objects_display.hpp
diff --git a/common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/visibility_control.hpp b/visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/visibility_control.hpp
similarity index 100%
rename from common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/visibility_control.hpp
rename to visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/visibility_control.hpp
diff --git a/common/autoware_perception_rviz_plugin/package.xml b/visualization/autoware_perception_rviz_plugin/package.xml
similarity index 100%
rename from common/autoware_perception_rviz_plugin/package.xml
rename to visualization/autoware_perception_rviz_plugin/package.xml
diff --git a/common/autoware_perception_rviz_plugin/plugins_description.xml b/visualization/autoware_perception_rviz_plugin/plugins_description.xml
similarity index 100%
rename from common/autoware_perception_rviz_plugin/plugins_description.xml
rename to visualization/autoware_perception_rviz_plugin/plugins_description.xml
diff --git a/common/autoware_perception_rviz_plugin/src/common/color_alpha_property.cpp b/visualization/autoware_perception_rviz_plugin/src/common/color_alpha_property.cpp
similarity index 100%
rename from common/autoware_perception_rviz_plugin/src/common/color_alpha_property.cpp
rename to visualization/autoware_perception_rviz_plugin/src/common/color_alpha_property.cpp
diff --git a/common/autoware_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp b/visualization/autoware_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp
similarity index 100%
rename from common/autoware_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp
rename to visualization/autoware_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp
diff --git a/common/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp b/visualization/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp
similarity index 100%
rename from common/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp
rename to visualization/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp
diff --git a/common/autoware_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp b/visualization/autoware_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp
similarity index 100%
rename from common/autoware_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp
rename to visualization/autoware_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp
diff --git a/common/autoware_perception_rviz_plugin/src/object_detection/tracked_objects_display.cpp b/visualization/autoware_perception_rviz_plugin/src/object_detection/tracked_objects_display.cpp
similarity index 100%
rename from common/autoware_perception_rviz_plugin/src/object_detection/tracked_objects_display.cpp
rename to visualization/autoware_perception_rviz_plugin/src/object_detection/tracked_objects_display.cpp
diff --git a/common/bag_time_manager_rviz_plugin/CHANGELOG.rst b/visualization/bag_time_manager_rviz_plugin/CHANGELOG.rst
similarity index 100%
rename from common/bag_time_manager_rviz_plugin/CHANGELOG.rst
rename to visualization/bag_time_manager_rviz_plugin/CHANGELOG.rst
diff --git a/common/bag_time_manager_rviz_plugin/CMakeLists.txt b/visualization/bag_time_manager_rviz_plugin/CMakeLists.txt
similarity index 100%
rename from common/bag_time_manager_rviz_plugin/CMakeLists.txt
rename to visualization/bag_time_manager_rviz_plugin/CMakeLists.txt
diff --git a/common/bag_time_manager_rviz_plugin/README.md b/visualization/bag_time_manager_rviz_plugin/README.md
similarity index 100%
rename from common/bag_time_manager_rviz_plugin/README.md
rename to visualization/bag_time_manager_rviz_plugin/README.md
diff --git a/common/bag_time_manager_rviz_plugin/icons/classes/BagTimeManagerPanel.png b/visualization/bag_time_manager_rviz_plugin/icons/classes/BagTimeManagerPanel.png
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rename from common/bag_time_manager_rviz_plugin/icons/classes/BagTimeManagerPanel.png
rename to visualization/bag_time_manager_rviz_plugin/icons/classes/BagTimeManagerPanel.png
diff --git a/common/bag_time_manager_rviz_plugin/images/add_bag_time_manager_panel.png b/visualization/bag_time_manager_rviz_plugin/images/add_bag_time_manager_panel.png
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rename from common/bag_time_manager_rviz_plugin/images/add_bag_time_manager_panel.png
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diff --git a/common/bag_time_manager_rviz_plugin/images/bag_time_manager_panel.png b/visualization/bag_time_manager_rviz_plugin/images/bag_time_manager_panel.png
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rename from common/bag_time_manager_rviz_plugin/images/bag_time_manager_panel.png
rename to visualization/bag_time_manager_rviz_plugin/images/bag_time_manager_panel.png
diff --git a/common/bag_time_manager_rviz_plugin/images/select_panels.png b/visualization/bag_time_manager_rviz_plugin/images/select_panels.png
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rename from common/bag_time_manager_rviz_plugin/images/select_panels.png
rename to visualization/bag_time_manager_rviz_plugin/images/select_panels.png
diff --git a/common/bag_time_manager_rviz_plugin/package.xml b/visualization/bag_time_manager_rviz_plugin/package.xml
similarity index 100%
rename from common/bag_time_manager_rviz_plugin/package.xml
rename to visualization/bag_time_manager_rviz_plugin/package.xml
diff --git a/common/bag_time_manager_rviz_plugin/plugins/plugin_description.xml b/visualization/bag_time_manager_rviz_plugin/plugins/plugin_description.xml
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rename from common/bag_time_manager_rviz_plugin/plugins/plugin_description.xml
rename to visualization/bag_time_manager_rviz_plugin/plugins/plugin_description.xml
diff --git a/common/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp b/visualization/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp
similarity index 100%
rename from common/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp
rename to visualization/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp
diff --git a/common/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.hpp b/visualization/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.hpp
similarity index 100%
rename from common/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.hpp
rename to visualization/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.hpp
diff --git a/common/tier4_adapi_rviz_plugin/CHANGELOG.rst b/visualization/tier4_adapi_rviz_plugin/CHANGELOG.rst
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rename from common/tier4_adapi_rviz_plugin/CHANGELOG.rst
rename to visualization/tier4_adapi_rviz_plugin/CHANGELOG.rst
diff --git a/common/tier4_adapi_rviz_plugin/CMakeLists.txt b/visualization/tier4_adapi_rviz_plugin/CMakeLists.txt
similarity index 100%
rename from common/tier4_adapi_rviz_plugin/CMakeLists.txt
rename to visualization/tier4_adapi_rviz_plugin/CMakeLists.txt
diff --git a/common/tier4_adapi_rviz_plugin/README.md b/visualization/tier4_adapi_rviz_plugin/README.md
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rename from common/tier4_adapi_rviz_plugin/README.md
rename to visualization/tier4_adapi_rviz_plugin/README.md
diff --git a/common/tier4_adapi_rviz_plugin/icons/classes/RoutePanel.png b/visualization/tier4_adapi_rviz_plugin/icons/classes/RoutePanel.png
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rename from common/tier4_adapi_rviz_plugin/icons/classes/RoutePanel.png
rename to visualization/tier4_adapi_rviz_plugin/icons/classes/RoutePanel.png
diff --git a/common/tier4_adapi_rviz_plugin/icons/classes/RouteTool.png b/visualization/tier4_adapi_rviz_plugin/icons/classes/RouteTool.png
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rename from common/tier4_adapi_rviz_plugin/icons/classes/RouteTool.png
rename to visualization/tier4_adapi_rviz_plugin/icons/classes/RouteTool.png
diff --git a/common/tier4_adapi_rviz_plugin/icons/classes/StatePanel.png b/visualization/tier4_adapi_rviz_plugin/icons/classes/StatePanel.png
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rename from common/tier4_adapi_rviz_plugin/icons/classes/StatePanel.png
rename to visualization/tier4_adapi_rviz_plugin/icons/classes/StatePanel.png
diff --git a/common/tier4_adapi_rviz_plugin/package.xml b/visualization/tier4_adapi_rviz_plugin/package.xml
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rename from common/tier4_adapi_rviz_plugin/package.xml
rename to visualization/tier4_adapi_rviz_plugin/package.xml
diff --git a/common/tier4_adapi_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_adapi_rviz_plugin/plugins/plugin_description.xml
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rename from common/tier4_adapi_rviz_plugin/plugins/plugin_description.xml
rename to visualization/tier4_adapi_rviz_plugin/plugins/plugin_description.xml
diff --git a/common/tier4_adapi_rviz_plugin/src/door_panel.cpp b/visualization/tier4_adapi_rviz_plugin/src/door_panel.cpp
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rename from common/tier4_adapi_rviz_plugin/src/door_panel.cpp
rename to visualization/tier4_adapi_rviz_plugin/src/door_panel.cpp
diff --git a/common/tier4_adapi_rviz_plugin/src/door_panel.hpp b/visualization/tier4_adapi_rviz_plugin/src/door_panel.hpp
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rename from common/tier4_adapi_rviz_plugin/src/door_panel.hpp
rename to visualization/tier4_adapi_rviz_plugin/src/door_panel.hpp
diff --git a/common/tier4_adapi_rviz_plugin/src/route_panel.cpp b/visualization/tier4_adapi_rviz_plugin/src/route_panel.cpp
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rename from common/tier4_adapi_rviz_plugin/src/route_panel.cpp
rename to visualization/tier4_adapi_rviz_plugin/src/route_panel.cpp
diff --git a/common/tier4_adapi_rviz_plugin/src/route_panel.hpp b/visualization/tier4_adapi_rviz_plugin/src/route_panel.hpp
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rename from common/tier4_adapi_rviz_plugin/src/route_panel.hpp
rename to visualization/tier4_adapi_rviz_plugin/src/route_panel.hpp
diff --git a/common/tier4_adapi_rviz_plugin/src/route_tool.cpp b/visualization/tier4_adapi_rviz_plugin/src/route_tool.cpp
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rename from common/tier4_adapi_rviz_plugin/src/route_tool.cpp
rename to visualization/tier4_adapi_rviz_plugin/src/route_tool.cpp
diff --git a/common/tier4_adapi_rviz_plugin/src/route_tool.hpp b/visualization/tier4_adapi_rviz_plugin/src/route_tool.hpp
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rename from common/tier4_adapi_rviz_plugin/src/route_tool.hpp
rename to visualization/tier4_adapi_rviz_plugin/src/route_tool.hpp
diff --git a/common/tier4_adapi_rviz_plugin/src/state_panel.cpp b/visualization/tier4_adapi_rviz_plugin/src/state_panel.cpp
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rename from common/tier4_adapi_rviz_plugin/src/state_panel.cpp
rename to visualization/tier4_adapi_rviz_plugin/src/state_panel.cpp
diff --git a/common/tier4_adapi_rviz_plugin/src/state_panel.hpp b/visualization/tier4_adapi_rviz_plugin/src/state_panel.hpp
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rename from common/tier4_adapi_rviz_plugin/src/state_panel.hpp
rename to visualization/tier4_adapi_rviz_plugin/src/state_panel.hpp
diff --git a/common/tier4_camera_view_rviz_plugin/CHANGELOG.rst b/visualization/tier4_camera_view_rviz_plugin/CHANGELOG.rst
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rename from common/tier4_camera_view_rviz_plugin/CHANGELOG.rst
rename to visualization/tier4_camera_view_rviz_plugin/CHANGELOG.rst
diff --git a/common/tier4_camera_view_rviz_plugin/CMakeLists.txt b/visualization/tier4_camera_view_rviz_plugin/CMakeLists.txt
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rename from common/tier4_camera_view_rviz_plugin/CMakeLists.txt
rename to visualization/tier4_camera_view_rviz_plugin/CMakeLists.txt
diff --git a/common/tier4_camera_view_rviz_plugin/README.md b/visualization/tier4_camera_view_rviz_plugin/README.md
similarity index 100%
rename from common/tier4_camera_view_rviz_plugin/README.md
rename to visualization/tier4_camera_view_rviz_plugin/README.md
diff --git a/common/tier4_camera_view_rviz_plugin/icons/classes/BirdEyeViewTool.png b/visualization/tier4_camera_view_rviz_plugin/icons/classes/BirdEyeViewTool.png
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rename from common/tier4_camera_view_rviz_plugin/icons/classes/BirdEyeViewTool.png
rename to visualization/tier4_camera_view_rviz_plugin/icons/classes/BirdEyeViewTool.png
diff --git a/common/tier4_camera_view_rviz_plugin/icons/classes/ThirdPersonViewTool.png b/visualization/tier4_camera_view_rviz_plugin/icons/classes/ThirdPersonViewTool.png
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rename from common/tier4_camera_view_rviz_plugin/icons/classes/ThirdPersonViewTool.png
rename to visualization/tier4_camera_view_rviz_plugin/icons/classes/ThirdPersonViewTool.png
diff --git a/common/tier4_camera_view_rviz_plugin/package.xml b/visualization/tier4_camera_view_rviz_plugin/package.xml
similarity index 100%
rename from common/tier4_camera_view_rviz_plugin/package.xml
rename to visualization/tier4_camera_view_rviz_plugin/package.xml
diff --git a/common/tier4_camera_view_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_camera_view_rviz_plugin/plugins/plugin_description.xml
similarity index 100%
rename from common/tier4_camera_view_rviz_plugin/plugins/plugin_description.xml
rename to visualization/tier4_camera_view_rviz_plugin/plugins/plugin_description.xml
diff --git a/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp b/visualization/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp
similarity index 100%
rename from common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp
rename to visualization/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp
diff --git a/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.hpp b/visualization/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.hpp
similarity index 100%
rename from common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.hpp
rename to visualization/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.hpp
diff --git a/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_tool.cpp b/visualization/tier4_camera_view_rviz_plugin/src/bird_eye_view_tool.cpp
similarity index 100%
rename from common/tier4_camera_view_rviz_plugin/src/bird_eye_view_tool.cpp
rename to visualization/tier4_camera_view_rviz_plugin/src/bird_eye_view_tool.cpp
diff --git a/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_tool.hpp b/visualization/tier4_camera_view_rviz_plugin/src/bird_eye_view_tool.hpp
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rename to visualization/tier4_camera_view_rviz_plugin/src/bird_eye_view_tool.hpp
diff --git a/common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp b/visualization/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp
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rename from common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp
rename to visualization/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp
diff --git a/common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.hpp b/visualization/tier4_camera_view_rviz_plugin/src/third_person_view_controller.hpp
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rename from common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.hpp
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diff --git a/common/tier4_camera_view_rviz_plugin/src/third_person_view_tool.cpp b/visualization/tier4_camera_view_rviz_plugin/src/third_person_view_tool.cpp
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rename to visualization/tier4_camera_view_rviz_plugin/src/third_person_view_tool.cpp
diff --git a/common/tier4_camera_view_rviz_plugin/src/third_person_view_tool.hpp b/visualization/tier4_camera_view_rviz_plugin/src/third_person_view_tool.hpp
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diff --git a/common/tier4_datetime_rviz_plugin/CHANGELOG.rst b/visualization/tier4_datetime_rviz_plugin/CHANGELOG.rst
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diff --git a/common/tier4_datetime_rviz_plugin/README.md b/visualization/tier4_datetime_rviz_plugin/README.md
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diff --git a/common/tier4_datetime_rviz_plugin/package.xml b/visualization/tier4_datetime_rviz_plugin/package.xml
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rename to visualization/tier4_datetime_rviz_plugin/package.xml
diff --git a/common/tier4_datetime_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_datetime_rviz_plugin/plugins/plugin_description.xml
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rename to visualization/tier4_datetime_rviz_plugin/plugins/plugin_description.xml
diff --git a/common/tier4_datetime_rviz_plugin/src/autoware_datetime_panel.cpp b/visualization/tier4_datetime_rviz_plugin/src/autoware_datetime_panel.cpp
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rename from common/tier4_datetime_rviz_plugin/src/autoware_datetime_panel.cpp
rename to visualization/tier4_datetime_rviz_plugin/src/autoware_datetime_panel.cpp
diff --git a/common/tier4_datetime_rviz_plugin/src/autoware_datetime_panel.hpp b/visualization/tier4_datetime_rviz_plugin/src/autoware_datetime_panel.hpp
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rename from common/tier4_datetime_rviz_plugin/src/autoware_datetime_panel.hpp
rename to visualization/tier4_datetime_rviz_plugin/src/autoware_datetime_panel.hpp
diff --git a/common/tier4_localization_rviz_plugin/CHANGELOG.rst b/visualization/tier4_localization_rviz_plugin/CHANGELOG.rst
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rename to visualization/tier4_localization_rviz_plugin/CHANGELOG.rst
diff --git a/common/tier4_localization_rviz_plugin/CMakeLists.txt b/visualization/tier4_localization_rviz_plugin/CMakeLists.txt
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rename from common/tier4_localization_rviz_plugin/CMakeLists.txt
rename to visualization/tier4_localization_rviz_plugin/CMakeLists.txt
diff --git a/common/tier4_localization_rviz_plugin/README.md b/visualization/tier4_localization_rviz_plugin/README.md
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diff --git a/common/tier4_localization_rviz_plugin/icons/classes/PoseHistory.png b/visualization/tier4_localization_rviz_plugin/icons/classes/PoseHistory.png
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diff --git a/common/tier4_localization_rviz_plugin/images/select_topic_name.png b/visualization/tier4_localization_rviz_plugin/images/select_topic_name.png
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diff --git a/common/tier4_localization_rviz_plugin/package.xml b/visualization/tier4_localization_rviz_plugin/package.xml
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rename from common/tier4_localization_rviz_plugin/package.xml
rename to visualization/tier4_localization_rviz_plugin/package.xml
diff --git a/common/tier4_localization_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_localization_rviz_plugin/plugins/plugin_description.xml
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diff --git a/common/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.cpp b/visualization/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.cpp
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rename from common/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.cpp
rename to visualization/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.cpp
diff --git a/common/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.hpp b/visualization/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.hpp
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rename from common/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.hpp
rename to visualization/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.hpp
diff --git a/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp b/visualization/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp
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rename from common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp
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diff --git a/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.hpp b/visualization/tier4_localization_rviz_plugin/src/pose_history_footprint/display.hpp
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rename from common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.hpp
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diff --git a/common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.cpp b/visualization/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.cpp
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rename from common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.cpp
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diff --git a/common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.hpp b/visualization/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.hpp
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rename from common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.hpp
rename to visualization/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.hpp
diff --git a/common/tier4_planning_rviz_plugin/CHANGELOG.rst b/visualization/tier4_planning_rviz_plugin/CHANGELOG.rst
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rename from common/tier4_planning_rviz_plugin/CHANGELOG.rst
rename to visualization/tier4_planning_rviz_plugin/CHANGELOG.rst
diff --git a/common/tier4_planning_rviz_plugin/CMakeLists.txt b/visualization/tier4_planning_rviz_plugin/CMakeLists.txt
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rename from common/tier4_planning_rviz_plugin/CMakeLists.txt
rename to visualization/tier4_planning_rviz_plugin/CMakeLists.txt
diff --git a/common/tier4_planning_rviz_plugin/README.md b/visualization/tier4_planning_rviz_plugin/README.md
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rename to visualization/tier4_planning_rviz_plugin/README.md
diff --git a/common/tier4_planning_rviz_plugin/icons/classes/DrivableArea.png b/visualization/tier4_planning_rviz_plugin/icons/classes/DrivableArea.png
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diff --git a/common/tier4_planning_rviz_plugin/icons/classes/MaxVelocity.png b/visualization/tier4_planning_rviz_plugin/icons/classes/MaxVelocity.png
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diff --git a/common/tier4_planning_rviz_plugin/icons/classes/MissionCheckpointTool.png b/visualization/tier4_planning_rviz_plugin/icons/classes/MissionCheckpointTool.png
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diff --git a/common/tier4_planning_rviz_plugin/icons/classes/Path.png b/visualization/tier4_planning_rviz_plugin/icons/classes/Path.png
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diff --git a/common/tier4_planning_rviz_plugin/icons/classes/PoseWithUuidStamped.png b/visualization/tier4_planning_rviz_plugin/icons/classes/PoseWithUuidStamped.png
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diff --git a/common/tier4_planning_rviz_plugin/images/select_add.png b/visualization/tier4_planning_rviz_plugin/images/select_add.png
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diff --git a/common/tier4_planning_rviz_plugin/images/select_topic_name.png b/visualization/tier4_planning_rviz_plugin/images/select_topic_name.png
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diff --git a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/mission_checkpoint/mission_checkpoint.hpp b/visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/mission_checkpoint/mission_checkpoint.hpp
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diff --git a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display.hpp b/visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display.hpp
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rename from common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display.hpp
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diff --git a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp b/visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp
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rename from common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp
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diff --git a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/pose_with_uuid_stamped/display.hpp b/visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/pose_with_uuid_stamped/display.hpp
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diff --git a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/utils.hpp b/visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/utils.hpp
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diff --git a/common/tier4_planning_rviz_plugin/package.xml b/visualization/tier4_planning_rviz_plugin/package.xml
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diff --git a/common/tier4_planning_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_planning_rviz_plugin/plugins/plugin_description.xml
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diff --git a/common/tier4_planning_rviz_plugin/src/mission_checkpoint/mission_checkpoint.cpp b/visualization/tier4_planning_rviz_plugin/src/mission_checkpoint/mission_checkpoint.cpp
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diff --git a/common/tier4_planning_rviz_plugin/src/path/display.cpp b/visualization/tier4_planning_rviz_plugin/src/path/display.cpp
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diff --git a/common/tier4_planning_rviz_plugin/src/pose_with_uuid_stamped/display.cpp b/visualization/tier4_planning_rviz_plugin/src/pose_with_uuid_stamped/display.cpp
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diff --git a/common/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.cpp b/visualization/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.cpp
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diff --git a/common/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.hpp b/visualization/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.hpp
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diff --git a/common/tier4_planning_rviz_plugin/src/tools/max_velocity.cpp b/visualization/tier4_planning_rviz_plugin/src/tools/max_velocity.cpp
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diff --git a/common/tier4_state_rviz_plugin/CHANGELOG.rst b/visualization/tier4_state_rviz_plugin/CHANGELOG.rst
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diff --git a/common/tier4_state_rviz_plugin/CMakeLists.txt b/visualization/tier4_state_rviz_plugin/CMakeLists.txt
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diff --git a/common/tier4_state_rviz_plugin/README.md b/visualization/tier4_state_rviz_plugin/README.md
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diff --git a/common/tier4_state_rviz_plugin/icons/classes/AutowareStatePanel.png b/visualization/tier4_state_rviz_plugin/icons/classes/AutowareStatePanel.png
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diff --git a/common/tier4_state_rviz_plugin/icons/classes/VelocitySteeringFactorsPanel.png b/visualization/tier4_state_rviz_plugin/icons/classes/VelocitySteeringFactorsPanel.png
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diff --git a/common/tier4_state_rviz_plugin/images/select_auto.png b/visualization/tier4_state_rviz_plugin/images/select_auto.png
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rename to visualization/tier4_state_rviz_plugin/images/select_auto.png
diff --git a/common/tier4_state_rviz_plugin/images/select_panels.png b/visualization/tier4_state_rviz_plugin/images/select_panels.png
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rename to visualization/tier4_state_rviz_plugin/images/select_panels.png
diff --git a/common/tier4_state_rviz_plugin/images/select_state_plugin.png b/visualization/tier4_state_rviz_plugin/images/select_state_plugin.png
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rename to visualization/tier4_state_rviz_plugin/images/select_state_plugin.png
diff --git a/common/tier4_state_rviz_plugin/package.xml b/visualization/tier4_state_rviz_plugin/package.xml
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rename to visualization/tier4_state_rviz_plugin/package.xml
diff --git a/common/tier4_state_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_state_rviz_plugin/plugins/plugin_description.xml
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rename from common/tier4_state_rviz_plugin/plugins/plugin_description.xml
rename to visualization/tier4_state_rviz_plugin/plugins/plugin_description.xml
diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp b/visualization/tier4_state_rviz_plugin/src/autoware_state_panel.cpp
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rename from common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp
rename to visualization/tier4_state_rviz_plugin/src/autoware_state_panel.cpp
diff --git a/common/tier4_state_rviz_plugin/src/custom_button.cpp b/visualization/tier4_state_rviz_plugin/src/custom_button.cpp
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rename from common/tier4_state_rviz_plugin/src/custom_button.cpp
rename to visualization/tier4_state_rviz_plugin/src/custom_button.cpp
diff --git a/common/tier4_state_rviz_plugin/src/custom_container.cpp b/visualization/tier4_state_rviz_plugin/src/custom_container.cpp
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rename from common/tier4_state_rviz_plugin/src/custom_container.cpp
rename to visualization/tier4_state_rviz_plugin/src/custom_container.cpp
diff --git a/common/tier4_state_rviz_plugin/src/custom_icon_label.cpp b/visualization/tier4_state_rviz_plugin/src/custom_icon_label.cpp
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rename from common/tier4_state_rviz_plugin/src/custom_icon_label.cpp
rename to visualization/tier4_state_rviz_plugin/src/custom_icon_label.cpp
diff --git a/common/tier4_state_rviz_plugin/src/custom_label.cpp b/visualization/tier4_state_rviz_plugin/src/custom_label.cpp
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rename from common/tier4_state_rviz_plugin/src/custom_label.cpp
rename to visualization/tier4_state_rviz_plugin/src/custom_label.cpp
diff --git a/common/tier4_state_rviz_plugin/src/custom_segmented_button.cpp b/visualization/tier4_state_rviz_plugin/src/custom_segmented_button.cpp
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rename from common/tier4_state_rviz_plugin/src/custom_segmented_button.cpp
rename to visualization/tier4_state_rviz_plugin/src/custom_segmented_button.cpp
diff --git a/common/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp b/visualization/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp
similarity index 100%
rename from common/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp
rename to visualization/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp
diff --git a/common/tier4_state_rviz_plugin/src/custom_slider.cpp b/visualization/tier4_state_rviz_plugin/src/custom_slider.cpp
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rename from common/tier4_state_rviz_plugin/src/custom_slider.cpp
rename to visualization/tier4_state_rviz_plugin/src/custom_slider.cpp
diff --git a/common/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp b/visualization/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp
similarity index 100%
rename from common/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp
rename to visualization/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp
diff --git a/common/tier4_state_rviz_plugin/src/include/autoware_state_panel.hpp b/visualization/tier4_state_rviz_plugin/src/include/autoware_state_panel.hpp
similarity index 100%
rename from common/tier4_state_rviz_plugin/src/include/autoware_state_panel.hpp
rename to visualization/tier4_state_rviz_plugin/src/include/autoware_state_panel.hpp
diff --git a/common/tier4_state_rviz_plugin/src/include/custom_button.hpp b/visualization/tier4_state_rviz_plugin/src/include/custom_button.hpp
similarity index 100%
rename from common/tier4_state_rviz_plugin/src/include/custom_button.hpp
rename to visualization/tier4_state_rviz_plugin/src/include/custom_button.hpp
diff --git a/common/tier4_state_rviz_plugin/src/include/custom_container.hpp b/visualization/tier4_state_rviz_plugin/src/include/custom_container.hpp
similarity index 100%
rename from common/tier4_state_rviz_plugin/src/include/custom_container.hpp
rename to visualization/tier4_state_rviz_plugin/src/include/custom_container.hpp
diff --git a/common/tier4_state_rviz_plugin/src/include/custom_icon_label.hpp b/visualization/tier4_state_rviz_plugin/src/include/custom_icon_label.hpp
similarity index 100%
rename from common/tier4_state_rviz_plugin/src/include/custom_icon_label.hpp
rename to visualization/tier4_state_rviz_plugin/src/include/custom_icon_label.hpp
diff --git a/common/tier4_state_rviz_plugin/src/include/custom_label.hpp b/visualization/tier4_state_rviz_plugin/src/include/custom_label.hpp
similarity index 100%
rename from common/tier4_state_rviz_plugin/src/include/custom_label.hpp
rename to visualization/tier4_state_rviz_plugin/src/include/custom_label.hpp
diff --git a/common/tier4_state_rviz_plugin/src/include/custom_segmented_button.hpp b/visualization/tier4_state_rviz_plugin/src/include/custom_segmented_button.hpp
similarity index 100%
rename from common/tier4_state_rviz_plugin/src/include/custom_segmented_button.hpp
rename to visualization/tier4_state_rviz_plugin/src/include/custom_segmented_button.hpp
diff --git a/common/tier4_state_rviz_plugin/src/include/custom_segmented_button_item.hpp b/visualization/tier4_state_rviz_plugin/src/include/custom_segmented_button_item.hpp
similarity index 100%
rename from common/tier4_state_rviz_plugin/src/include/custom_segmented_button_item.hpp
rename to visualization/tier4_state_rviz_plugin/src/include/custom_segmented_button_item.hpp
diff --git a/common/tier4_state_rviz_plugin/src/include/custom_slider.hpp b/visualization/tier4_state_rviz_plugin/src/include/custom_slider.hpp
similarity index 100%
rename from common/tier4_state_rviz_plugin/src/include/custom_slider.hpp
rename to visualization/tier4_state_rviz_plugin/src/include/custom_slider.hpp
diff --git a/common/tier4_state_rviz_plugin/src/include/custom_toggle_switch.hpp b/visualization/tier4_state_rviz_plugin/src/include/custom_toggle_switch.hpp
similarity index 100%
rename from common/tier4_state_rviz_plugin/src/include/custom_toggle_switch.hpp
rename to visualization/tier4_state_rviz_plugin/src/include/custom_toggle_switch.hpp
diff --git a/common/tier4_state_rviz_plugin/src/include/material_colors.hpp b/visualization/tier4_state_rviz_plugin/src/include/material_colors.hpp
similarity index 100%
rename from common/tier4_state_rviz_plugin/src/include/material_colors.hpp
rename to visualization/tier4_state_rviz_plugin/src/include/material_colors.hpp
diff --git a/common/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp b/visualization/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp
similarity index 100%
rename from common/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp
rename to visualization/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp
diff --git a/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp b/visualization/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp
similarity index 100%
rename from common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp
rename to visualization/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp
diff --git a/common/tier4_system_rviz_plugin/CHANGELOG.rst b/visualization/tier4_system_rviz_plugin/CHANGELOG.rst
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rename from common/tier4_system_rviz_plugin/CHANGELOG.rst
rename to visualization/tier4_system_rviz_plugin/CHANGELOG.rst
diff --git a/common/tier4_system_rviz_plugin/CMakeLists.txt b/visualization/tier4_system_rviz_plugin/CMakeLists.txt
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rename from common/tier4_system_rviz_plugin/CMakeLists.txt
rename to visualization/tier4_system_rviz_plugin/CMakeLists.txt
diff --git a/common/tier4_system_rviz_plugin/README.md b/visualization/tier4_system_rviz_plugin/README.md
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rename from common/tier4_system_rviz_plugin/README.md
rename to visualization/tier4_system_rviz_plugin/README.md
diff --git a/common/tier4_system_rviz_plugin/package.xml b/visualization/tier4_system_rviz_plugin/package.xml
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rename from common/tier4_system_rviz_plugin/package.xml
rename to visualization/tier4_system_rviz_plugin/package.xml
diff --git a/common/tier4_system_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_system_rviz_plugin/plugins/plugin_description.xml
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rename from common/tier4_system_rviz_plugin/plugins/plugin_description.xml
rename to visualization/tier4_system_rviz_plugin/plugins/plugin_description.xml
diff --git a/common/tier4_system_rviz_plugin/src/jsk_overlay_utils.cpp b/visualization/tier4_system_rviz_plugin/src/jsk_overlay_utils.cpp
similarity index 100%
rename from common/tier4_system_rviz_plugin/src/jsk_overlay_utils.cpp
rename to visualization/tier4_system_rviz_plugin/src/jsk_overlay_utils.cpp
diff --git a/common/tier4_system_rviz_plugin/src/jsk_overlay_utils.hpp b/visualization/tier4_system_rviz_plugin/src/jsk_overlay_utils.hpp
similarity index 100%
rename from common/tier4_system_rviz_plugin/src/jsk_overlay_utils.hpp
rename to visualization/tier4_system_rviz_plugin/src/jsk_overlay_utils.hpp
diff --git a/common/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.cpp b/visualization/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.cpp
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rename from common/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.cpp
rename to visualization/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.cpp
diff --git a/common/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.hpp b/visualization/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.hpp
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rename from common/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.hpp
rename to visualization/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.hpp
diff --git a/common/tier4_traffic_light_rviz_plugin/CHANGELOG.rst b/visualization/tier4_traffic_light_rviz_plugin/CHANGELOG.rst
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rename from common/tier4_traffic_light_rviz_plugin/CHANGELOG.rst
rename to visualization/tier4_traffic_light_rviz_plugin/CHANGELOG.rst
diff --git a/common/tier4_traffic_light_rviz_plugin/CMakeLists.txt b/visualization/tier4_traffic_light_rviz_plugin/CMakeLists.txt
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rename from common/tier4_traffic_light_rviz_plugin/CMakeLists.txt
rename to visualization/tier4_traffic_light_rviz_plugin/CMakeLists.txt
diff --git a/common/tier4_traffic_light_rviz_plugin/README.md b/visualization/tier4_traffic_light_rviz_plugin/README.md
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rename to visualization/tier4_traffic_light_rviz_plugin/README.md
diff --git a/common/tier4_traffic_light_rviz_plugin/icons/classes/TrafficLightPublishPanel.png b/visualization/tier4_traffic_light_rviz_plugin/icons/classes/TrafficLightPublishPanel.png
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diff --git a/common/tier4_traffic_light_rviz_plugin/images/select_panels.png b/visualization/tier4_traffic_light_rviz_plugin/images/select_panels.png
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diff --git a/common/tier4_traffic_light_rviz_plugin/images/select_traffic_light_id.png b/visualization/tier4_traffic_light_rviz_plugin/images/select_traffic_light_id.png
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diff --git a/common/tier4_traffic_light_rviz_plugin/images/select_traffic_light_publish_panel.png b/visualization/tier4_traffic_light_rviz_plugin/images/select_traffic_light_publish_panel.png
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diff --git a/common/tier4_traffic_light_rviz_plugin/images/traffic_light_publish_panel.gif b/visualization/tier4_traffic_light_rviz_plugin/images/traffic_light_publish_panel.gif
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diff --git a/common/tier4_traffic_light_rviz_plugin/package.xml b/visualization/tier4_traffic_light_rviz_plugin/package.xml
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rename from common/tier4_traffic_light_rviz_plugin/package.xml
rename to visualization/tier4_traffic_light_rviz_plugin/package.xml
diff --git a/common/tier4_traffic_light_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_traffic_light_rviz_plugin/plugins/plugin_description.xml
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rename from common/tier4_traffic_light_rviz_plugin/plugins/plugin_description.xml
rename to visualization/tier4_traffic_light_rviz_plugin/plugins/plugin_description.xml
diff --git a/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp b/visualization/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp
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rename from common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp
rename to visualization/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp
diff --git a/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp b/visualization/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp
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rename from common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp
rename to visualization/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp
diff --git a/common/tier4_vehicle_rviz_plugin/CHANGELOG.rst b/visualization/tier4_vehicle_rviz_plugin/CHANGELOG.rst
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rename from common/tier4_vehicle_rviz_plugin/CHANGELOG.rst
rename to visualization/tier4_vehicle_rviz_plugin/CHANGELOG.rst
diff --git a/common/tier4_vehicle_rviz_plugin/CMakeLists.txt b/visualization/tier4_vehicle_rviz_plugin/CMakeLists.txt
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rename from common/tier4_vehicle_rviz_plugin/CMakeLists.txt
rename to visualization/tier4_vehicle_rviz_plugin/CMakeLists.txt
diff --git a/common/tier4_vehicle_rviz_plugin/README.md b/visualization/tier4_vehicle_rviz_plugin/README.md
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rename to visualization/tier4_vehicle_rviz_plugin/README.md
diff --git a/common/tier4_vehicle_rviz_plugin/icons/classes/AccelerationMeter.png b/visualization/tier4_vehicle_rviz_plugin/icons/classes/AccelerationMeter.png
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diff --git a/common/tier4_vehicle_rviz_plugin/icons/classes/ConsoleMeter.png b/visualization/tier4_vehicle_rviz_plugin/icons/classes/ConsoleMeter.png
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diff --git a/common/tier4_vehicle_rviz_plugin/icons/classes/SteeringAngle.png b/visualization/tier4_vehicle_rviz_plugin/icons/classes/SteeringAngle.png
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rename from common/tier4_vehicle_rviz_plugin/icons/classes/SteeringAngle.png
rename to visualization/tier4_vehicle_rviz_plugin/icons/classes/SteeringAngle.png
diff --git a/common/tier4_vehicle_rviz_plugin/icons/classes/TurnSignal.png b/visualization/tier4_vehicle_rviz_plugin/icons/classes/TurnSignal.png
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rename to visualization/tier4_vehicle_rviz_plugin/icons/classes/TurnSignal.png
diff --git a/common/tier4_vehicle_rviz_plugin/icons/classes/VelocityHistory.png b/visualization/tier4_vehicle_rviz_plugin/icons/classes/VelocityHistory.png
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rename to visualization/tier4_vehicle_rviz_plugin/icons/classes/VelocityHistory.png
diff --git a/common/tier4_vehicle_rviz_plugin/images/handle.png b/visualization/tier4_vehicle_rviz_plugin/images/handle.png
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rename from common/tier4_vehicle_rviz_plugin/images/handle.png
rename to visualization/tier4_vehicle_rviz_plugin/images/handle.png
diff --git a/common/tier4_vehicle_rviz_plugin/images/select_add.png b/visualization/tier4_vehicle_rviz_plugin/images/select_add.png
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rename from common/tier4_vehicle_rviz_plugin/images/select_add.png
rename to visualization/tier4_vehicle_rviz_plugin/images/select_add.png
diff --git a/common/tier4_vehicle_rviz_plugin/images/select_topic_name.png b/visualization/tier4_vehicle_rviz_plugin/images/select_topic_name.png
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diff --git a/common/tier4_vehicle_rviz_plugin/images/select_vehicle_plugin.png b/visualization/tier4_vehicle_rviz_plugin/images/select_vehicle_plugin.png
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rename from common/tier4_vehicle_rviz_plugin/images/select_vehicle_plugin.png
rename to visualization/tier4_vehicle_rviz_plugin/images/select_vehicle_plugin.png
diff --git a/common/tier4_vehicle_rviz_plugin/package.xml b/visualization/tier4_vehicle_rviz_plugin/package.xml
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rename from common/tier4_vehicle_rviz_plugin/package.xml
rename to visualization/tier4_vehicle_rviz_plugin/package.xml
diff --git a/common/tier4_vehicle_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_vehicle_rviz_plugin/plugins/plugin_description.xml
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rename from common/tier4_vehicle_rviz_plugin/plugins/plugin_description.xml
rename to visualization/tier4_vehicle_rviz_plugin/plugins/plugin_description.xml
diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.cpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.cpp
similarity index 100%
rename from common/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.cpp
rename to visualization/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.cpp
diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.hpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.hpp
similarity index 100%
rename from common/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.hpp
rename to visualization/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.hpp
diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/console_meter.cpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/console_meter.cpp
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rename from common/tier4_vehicle_rviz_plugin/src/tools/console_meter.cpp
rename to visualization/tier4_vehicle_rviz_plugin/src/tools/console_meter.cpp
diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/console_meter.hpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/console_meter.hpp
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rename from common/tier4_vehicle_rviz_plugin/src/tools/console_meter.hpp
rename to visualization/tier4_vehicle_rviz_plugin/src/tools/console_meter.hpp
diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.cpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.cpp
similarity index 100%
rename from common/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.cpp
rename to visualization/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.cpp
diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.hpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.hpp
similarity index 100%
rename from common/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.hpp
rename to visualization/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.hpp
diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/steering_angle.cpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/steering_angle.cpp
similarity index 100%
rename from common/tier4_vehicle_rviz_plugin/src/tools/steering_angle.cpp
rename to visualization/tier4_vehicle_rviz_plugin/src/tools/steering_angle.cpp
diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/steering_angle.hpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/steering_angle.hpp
similarity index 100%
rename from common/tier4_vehicle_rviz_plugin/src/tools/steering_angle.hpp
rename to visualization/tier4_vehicle_rviz_plugin/src/tools/steering_angle.hpp
diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/turn_signal.cpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/turn_signal.cpp
similarity index 100%
rename from common/tier4_vehicle_rviz_plugin/src/tools/turn_signal.cpp
rename to visualization/tier4_vehicle_rviz_plugin/src/tools/turn_signal.cpp
diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/turn_signal.hpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/turn_signal.hpp
similarity index 100%
rename from common/tier4_vehicle_rviz_plugin/src/tools/turn_signal.hpp
rename to visualization/tier4_vehicle_rviz_plugin/src/tools/turn_signal.hpp
diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/velocity_history.cpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/velocity_history.cpp
similarity index 100%
rename from common/tier4_vehicle_rviz_plugin/src/tools/velocity_history.cpp
rename to visualization/tier4_vehicle_rviz_plugin/src/tools/velocity_history.cpp
diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/velocity_history.hpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/velocity_history.hpp
similarity index 100%
rename from common/tier4_vehicle_rviz_plugin/src/tools/velocity_history.hpp
rename to visualization/tier4_vehicle_rviz_plugin/src/tools/velocity_history.hpp

From 30f0a2ef0ab485536d8331afc2b29e5b7c473d33 Mon Sep 17 00:00:00 2001
From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
Date: Tue, 10 Dec 2024 13:49:36 +0900
Subject: [PATCH 08/36] revert(CODEOWNERS): revert accidental rename (#9605)

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
 .github/{_CODEOWNERS => CODEOWNERS} | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename .github/{_CODEOWNERS => CODEOWNERS} (100%)

diff --git a/.github/_CODEOWNERS b/.github/CODEOWNERS
similarity index 100%
rename from .github/_CODEOWNERS
rename to .github/CODEOWNERS

From 1d96a7f10104fc85468a0720a4b918864a14b624 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Tue, 10 Dec 2024 17:34:30 +0900
Subject: [PATCH 09/36] feat(diagnostic_graph_utils): publish error graph
 instead of the terminal log (#9421)

* feat(diagnostic_graph_utils): publish error graph instead of the terminal log

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* update

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* Update system/diagnostic_graph_utils/src/node/logging.cpp

Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>

* error_graph -> error_graph_text

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
---
 .../launch/logging.launch.xml                 |  1 +
 system/diagnostic_graph_utils/package.xml     |  1 +
 .../src/node/logging.cpp                      | 25 ++++++++++++++++---
 .../src/node/logging.hpp                      |  4 +++
 4 files changed, 27 insertions(+), 4 deletions(-)

diff --git a/system/diagnostic_graph_utils/launch/logging.launch.xml b/system/diagnostic_graph_utils/launch/logging.launch.xml
index 12636574eb8be..f14a045919599 100644
--- a/system/diagnostic_graph_utils/launch/logging.launch.xml
+++ b/system/diagnostic_graph_utils/launch/logging.launch.xml
@@ -6,5 +6,6 @@
     <param name="root_path" value="$(var root_path)"/>
     <param name="max_depth" value="$(var max_depth)"/>
     <param name="show_rate" value="$(var show_rate)"/>
+    <param name="enable_terminal_log" value="$(var enable_terminal_log)"/>
   </node>
 </launch>
diff --git a/system/diagnostic_graph_utils/package.xml b/system/diagnostic_graph_utils/package.xml
index d558ba26b636a..69b8e4083356d 100644
--- a/system/diagnostic_graph_utils/package.xml
+++ b/system/diagnostic_graph_utils/package.xml
@@ -13,6 +13,7 @@
   <depend>diagnostic_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
+  <depend>tier4_debug_msgs</depend>
   <depend>tier4_system_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/system/diagnostic_graph_utils/src/node/logging.cpp b/system/diagnostic_graph_utils/src/node/logging.cpp
index b166a087200a0..5d360a00aee82 100644
--- a/system/diagnostic_graph_utils/src/node/logging.cpp
+++ b/system/diagnostic_graph_utils/src/node/logging.cpp
@@ -34,8 +34,13 @@ LoggingNode::LoggingNode(const rclcpp::NodeOptions & options) : Node("logging",
   sub_graph_.register_create_callback(std::bind(&LoggingNode::on_create, this, _1));
   sub_graph_.subscribe(*this, 1);
 
+  pub_error_graph_text_ = create_publisher<tier4_debug_msgs::msg::StringStamped>(
+    "~/debug/error_graph_text", rclcpp::QoS(1));
+
   const auto period = rclcpp::Rate(declare_parameter<double>("show_rate")).period();
   timer_ = rclcpp::create_timer(this, get_clock(), period, [this]() { on_timer(); });
+
+  enable_terminal_log_ = declare_parameter<bool>("enable_terminal_log");
 }
 
 void LoggingNode::on_create(DiagGraph::ConstSharedPtr graph)
@@ -53,12 +58,24 @@ void LoggingNode::on_create(DiagGraph::ConstSharedPtr graph)
 
 void LoggingNode::on_timer()
 {
-  static const auto message = "The target mode is not available for the following reasons:";
+  static const auto prefix_message = "The target mode is not available for the following reasons:";
   if (root_unit_ && root_unit_->level() != DiagUnit::DiagnosticStatus::OK) {
     dump_text_.str("");
     dump_text_.clear(std::stringstream::goodbit);
-    dump_unit(root_unit_, 0, "  ");
-    RCLCPP_WARN_STREAM(get_logger(), message << std::endl << dump_text_.str());
+    dump_unit(root_unit_, 0, "");
+
+    if (enable_terminal_log_) {
+      RCLCPP_WARN_STREAM(get_logger(), prefix_message << std::endl << dump_text_.str());
+    }
+
+    tier4_debug_msgs::msg::StringStamped message;
+    message.stamp = now();
+    message.data = dump_text_.str();
+    pub_error_graph_text_->publish(message);
+  } else {
+    tier4_debug_msgs::msg::StringStamped message;
+    message.stamp = now();
+    pub_error_graph_text_->publish(message);
   }
 }
 
@@ -86,7 +103,7 @@ void LoggingNode::dump_unit(DiagUnit * unit, int depth, const std::string & inde
 
   dump_text_ << indent << "- " + path << " " << text_level(unit->level()) << std::endl;
   for (const auto & child : unit->children()) {
-    dump_unit(child.unit, depth + 1, indent + "  ");
+    dump_unit(child.unit, depth + 1, indent + "    ");
   }
 }
 
diff --git a/system/diagnostic_graph_utils/src/node/logging.hpp b/system/diagnostic_graph_utils/src/node/logging.hpp
index b2d305c81ca99..17d33499a1513 100644
--- a/system/diagnostic_graph_utils/src/node/logging.hpp
+++ b/system/diagnostic_graph_utils/src/node/logging.hpp
@@ -19,6 +19,8 @@
 
 #include <rclcpp/rclcpp.hpp>
 
+#include "tier4_debug_msgs/msg/string_stamped.hpp"
+
 #include <sstream>
 #include <string>
 
@@ -35,12 +37,14 @@ class LoggingNode : public rclcpp::Node
   void on_timer();
   void dump_unit(DiagUnit * unit, int depth, const std::string & indent);
   DiagGraphSubscription sub_graph_;
+  rclcpp::Publisher<tier4_debug_msgs::msg::StringStamped>::SharedPtr pub_error_graph_text_;
   rclcpp::TimerBase::SharedPtr timer_;
 
   DiagUnit * root_unit_;
   int max_depth_;
   std::string root_path_;
   std::ostringstream dump_text_;
+  bool enable_terminal_log_;
 };
 
 }  // namespace diagnostic_graph_utils

From c0c70cc5dfcf1d1be935999ffc5b7b092a0973c9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?=
 <xmfcx@users.noreply.github.com>
Date: Tue, 10 Dec 2024 15:56:54 +0300
Subject: [PATCH 10/36] ci(pr-agent): reduce the contents:write permission to
 read for security (#9598)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: M. Fatih Cırıt <mfc@autoware.org>
---
 .github/workflows/pr-agent.yaml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/pr-agent.yaml b/.github/workflows/pr-agent.yaml
index 5cd0845b3d9b4..a60e65ccf7b32 100644
--- a/.github/workflows/pr-agent.yaml
+++ b/.github/workflows/pr-agent.yaml
@@ -17,7 +17,7 @@ jobs:
     permissions:
       issues: write
       pull-requests: write
-      contents: write
+      contents: read
     name: Run pr agent on every pull request, respond to user comments
     steps:
       - name: PR Agent action step
@@ -35,6 +35,7 @@ jobs:
           config.model_turbo: gpt-4o
           config.max_model_tokens: 64000
           pr_code_suggestions.max_context_tokens: 12000
+          # cSpell:ignore commitable
           pr_code_suggestions.commitable_code_suggestions: true
           pr_reviewer.enable_review_labels_effort: false
           pr_reviewer.enable_review_labels_security: false

From 8ba1699b7482d328be25b26ecb697e3d48a698d3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?=
 <xmfcx@users.noreply.github.com>
Date: Tue, 10 Dec 2024 16:56:10 +0300
Subject: [PATCH 11/36] ci(build-and-test): use self hosted X64 and add ccache
 to -daily (#9601)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: M. Fatih Cırıt <mfc@autoware.org>
---
 .github/workflows/build-and-test-daily.yaml | 40 ++++++++++++++++++++-
 .github/workflows/build-and-test.yaml       |  2 +-
 2 files changed, 40 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/build-and-test-daily.yaml b/.github/workflows/build-and-test-daily.yaml
index 63822f8b1e093..b2612f2fcd1f0 100644
--- a/.github/workflows/build-and-test-daily.yaml
+++ b/.github/workflows/build-and-test-daily.yaml
@@ -5,9 +5,13 @@ on:
     - cron: 0 0 * * *
   workflow_dispatch:
 
+env:
+  CC: /usr/lib/ccache/gcc
+  CXX: /usr/lib/ccache/g++
+
 jobs:
   build-and-test-daily:
-    runs-on: [self-hosted, linux, X64, gpu]
+    runs-on: [self-hosted, Linux, X64]
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false
@@ -30,6 +34,9 @@ jobs:
       - name: Show disk space before the tasks
         run: df -h
 
+      - name: Show machine specs
+        run: lscpu && free -h
+
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
@@ -37,6 +44,33 @@ jobs:
         id: get-self-packages
         uses: autowarefoundation/autoware-github-actions/get-self-packages@v1
 
+      - name: Create ccache directory
+        run: |
+          mkdir -p ${CCACHE_DIR}
+          du -sh ${CCACHE_DIR} && ccache -s
+        shell: bash
+
+      - name: Attempt to restore ccache
+        uses: actions/cache/restore@v4
+        with:
+          path: |
+            /root/.ccache
+          key: ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-${{ github.sha }}
+          restore-keys: |
+            ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-
+
+      - name: Limit ccache size
+        run: |
+          rm -f "${CCACHE_DIR}/ccache.conf"
+          echo -e "# Set maximum cache size\nmax_size = 600MB" >> "${CCACHE_DIR}/ccache.conf"
+        shell: bash
+
+      - name: Show ccache stats before build and reset stats
+        run: |
+          du -sh ${CCACHE_DIR} && ccache -s
+          ccache --zero-stats
+        shell: bash
+
       - name: Export CUDA state as a variable for adding to cache key
         run: |
           build_type_cuda_state=nocuda
@@ -56,6 +90,10 @@ jobs:
           build-depends-repos: ${{ matrix.build-depends-repos }}
           cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
 
+      - name: Show ccache stats after build
+        run: du -sh ${CCACHE_DIR} && ccache -s
+        shell: bash
+
       - name: Test
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         id: test
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
index 3ffa5ebdbd29d..6b3886f124a44 100644
--- a/.github/workflows/build-and-test.yaml
+++ b/.github/workflows/build-and-test.yaml
@@ -16,7 +16,7 @@ env:
 
 jobs:
   build-and-test:
-    runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
+    runs-on: [self-hosted, Linux, X64]
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false

From 9707caf3bff95964d17cadd69575286c1bb7ed98 Mon Sep 17 00:00:00 2001
From: "awf-autoware-bot[bot]"
 <94889083+awf-autoware-bot[bot]@users.noreply.github.com>
Date: Tue, 10 Dec 2024 14:43:01 +0000
Subject: [PATCH 12/36] chore: update CODEOWNERS (#9577)

Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
Co-authored-by: github-actions <github-actions@github.com>
---
 .github/CODEOWNERS | 35 +++++++++++++++++------------------
 1 file changed, 17 insertions(+), 18 deletions(-)

diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 3c1defb31a741..7403da173eb13 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -5,7 +5,6 @@ common/autoware_component_interface_specs/** isamu.takagi@tier4.jp yukihiro.sait
 common/autoware_component_interface_tools/** isamu.takagi@tier4.jp
 common/autoware_component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp
 common/autoware_fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
-common/autoware_geography_utils/** anh.nguyen.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 common/autoware_global_parameter_loader/** ryohsuke.mitsudome@tier4.jp
 common/autoware_glog_component/** takamasa.horibe@tier4.jp
 common/autoware_goal_distance_calculator/** taiki.tanaka@tier4.jp
@@ -15,12 +14,10 @@ common/autoware_kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yu
 common/autoware_motion_utils/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 common/autoware_object_recognition_utils/** shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp yoshi.ri@tier4.jp
 common/autoware_osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp
-common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** ahmed.ebrahim@leodrive.ai
-common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** khalil@leodrive.ai
 common/autoware_path_distance_calculator/** isamu.takagi@tier4.jp
-common/autoware_perception_rviz_plugin/** opensource@apex.ai shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp
 common/autoware_point_types/** david.wong@tier4.jp max.schmeller@tier4.jp
 common/autoware_polar_grid/** yukihiro.saito@tier4.jp
+common/autoware_pyplot/** mamoru.sobue@tier4.jp yukinari.hisaki.2@tier4.jp
 common/autoware_qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp
 common/autoware_signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 common/autoware_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp
@@ -31,18 +28,8 @@ common/autoware_traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4.
 common/autoware_trajectory/** mamoru.sobue@tier4.jp takayuki.murooka@tier4.jp yukinari.hisaki.2@tier4.jp
 common/autoware_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 common/autoware_vehicle_info_utils/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
-common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp
-common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp
 common/tier4_api_utils/** isamu.takagi@tier4.jp
-common/tier4_camera_view_rviz_plugin/** makoto.ybauta@tier4.jp uken.ryu@tier4.jp
-common/tier4_datetime_rviz_plugin/** isamu.takagi@tier4.jp
-common/tier4_localization_rviz_plugin/** isamu.takagi@tier4.jp takamasa.horibe@tier4.jp yamato.ando@tier4.jp
-common/tier4_planning_rviz_plugin/** takayuki.murooka@tier4.jp yukihiro.saito@tier4.jp
-common/tier4_state_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp khalil@leodrive.ai
-common/tier4_system_rviz_plugin/** koji.minoda@tier4.jp
-common/tier4_traffic_light_rviz_plugin/** satoshi.ota@tier4.jp
-common/tier4_vehicle_rviz_plugin/** yukihiro.saito@tier4.jp
-control/autoware_autonomous_emergency_braking/** daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
+control/autoware_autonomous_emergency_braking/** alqudah.mohammad@tier4.jp daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
 control/autoware_collision_detector/** go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp tomohito.ando@tier4.jp
 control/autoware_control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/autoware_external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
@@ -173,7 +160,7 @@ planning/behavior_path_planner/autoware_behavior_path_planner_common/** alqudah.
 planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/** daniel.sanchez@tier4.jp maxime.clement@tier4.jp
 planning/behavior_path_planner/autoware_behavior_path_side_shift_module/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_path_planner/autoware_behavior_path_start_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
-planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
+planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp yukinari.hisaki.2@tier4.jp zulfaqar.azmi@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp yukinari.hisaki.2@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yuki.takagi@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/** kyoichi.sugahara@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
@@ -210,8 +197,8 @@ sensing/autoware_radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.m
 sensing/autoware_radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
 sensing/autoware_radar_threshold_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
 sensing/autoware_radar_tracks_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
-sensing/livox/autoware_livox_tag_filter/** kenzo.lobos@tier4.jp ryohsuke.mitsudome@tier4.jp
 sensing/autoware_vehicle_velocity_converter/** ryu.yamamoto@tier4.jp
+sensing/livox/autoware_livox_tag_filter/** kenzo.lobos@tier4.jp ryohsuke.mitsudome@tier4.jp
 simulator/autoware_carla_interface/** maxime.clement@tier4.jp mradityagio@gmail.com
 simulator/dummy_perception_publisher/** yukihiro.saito@tier4.jp
 simulator/fault_injection/** keisuke.shima@tier4.jp
@@ -245,6 +232,18 @@ vehicle/autoware_accel_brake_map_calibrator/** eiki.nagata.2@tier4.jp taiki.tana
 vehicle/autoware_external_cmd_converter/** eiki.nagata.2@tier4.jp takamasa.horibe@tier4.jp
 vehicle/autoware_raw_vehicle_cmd_converter/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp sho.iwasawa.2@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 vehicle/autoware_steer_offset_estimator/** taiki.tanaka@tier4.jp
-visualization/autoware_pyplot/** mamoru.sobue@tier4.jp yukinari.hisaki.2@tier4.jp
+visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** ahmed.ebrahim@leodrive.ai
+visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** khalil@leodrive.ai
+visualization/autoware_perception_rviz_plugin/** opensource@apex.ai shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp
+visualization/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp
+visualization/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp
+visualization/tier4_camera_view_rviz_plugin/** makoto.ybauta@tier4.jp uken.ryu@tier4.jp
+visualization/tier4_datetime_rviz_plugin/** isamu.takagi@tier4.jp
+visualization/tier4_localization_rviz_plugin/** isamu.takagi@tier4.jp takamasa.horibe@tier4.jp yamato.ando@tier4.jp
+visualization/tier4_planning_rviz_plugin/** takayuki.murooka@tier4.jp yukihiro.saito@tier4.jp
+visualization/tier4_state_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp khalil@leodrive.ai
+visualization/tier4_system_rviz_plugin/** koji.minoda@tier4.jp
+visualization/tier4_traffic_light_rviz_plugin/** satoshi.ota@tier4.jp
+visualization/tier4_vehicle_rviz_plugin/** yukihiro.saito@tier4.jp
 
 ### Copied from .github/CODEOWNERS-manual ###

From 34f7c9b92cb6edd89310aced8c9b499412915935 Mon Sep 17 00:00:00 2001
From: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Date: Wed, 11 Dec 2024 01:02:39 +0900
Subject: [PATCH 13/36] feat(behavior_path_planner): add detail text to virutal
 wall (#9600)

* feat(behavior_path_planner): add detail text to virutal wall

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* goal is far

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* pull over start pose is far

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* fix lc build

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* fix build

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

---------

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
---
 .../goal_planner_module.hpp                   | 33 ++-----
 .../src/goal_planner_module.cpp               | 93 ++++++++-----------
 .../src/interface.cpp                         |  8 +-
 .../data_manager.hpp                          | 11 +++
 .../interface/scene_module_interface.hpp      | 28 +++---
 .../scene_module_manager_interface.hpp        | 38 ++++----
 .../utils/parking_departure/utils.hpp         |  3 +-
 .../src/utils/parking_departure/utils.cpp     |  5 +-
 .../test/test_parking_departure_utils.cpp     |  3 +-
 .../start_planner_module.hpp                  |  2 +-
 .../src/start_planner_module.cpp              |  2 +-
 .../utils.hpp                                 |  2 +-
 .../src/scene.cpp                             | 17 ++--
 .../src/utils.cpp                             |  4 +-
 .../test/test_utils.cpp                       | 10 +-
 15 files changed, 123 insertions(+), 136 deletions(-)

diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp
index 09acced162abd..5e6afa16d1f9f 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp
@@ -84,29 +84,6 @@ struct LastApprovalData
   Pose pose{};
 };
 
-// store stop_pose_ pointer with reason string
-struct PoseWithString
-{
-  std::optional<Pose> * pose;
-  std::string string;
-
-  explicit PoseWithString(std::optional<Pose> * shared_pose) : pose(shared_pose), string("") {}
-
-  void set(const Pose & new_pose, const std::string & new_string)
-  {
-    *pose = new_pose;
-    string = new_string;
-  }
-
-  void set(const std::string & new_string) { string = new_string; }
-
-  void clear()
-  {
-    pose->reset();
-    string = "";
-  }
-};
-
 struct PullOverContextData
 {
   PullOverContextData() = delete;
@@ -371,7 +348,6 @@ class GoalPlannerModule : public SceneModuleInterface
 
   // debug
   mutable GoalPlannerDebugData debug_data_;
-  mutable PoseWithString debug_stop_pose_with_info_;
 
   // goal seach
   GoalCandidates generateGoalCandidates() const;
@@ -381,8 +357,10 @@ class GoalPlannerModule : public SceneModuleInterface
   void decelerateForTurnSignal(const Pose & stop_pose, PathWithLaneId & path) const;
   void decelerateBeforeSearchStart(
     const Pose & search_start_offset_pose, PathWithLaneId & path) const;
-  PathWithLaneId generateStopPath(const PullOverContextData & context_data) const;
-  PathWithLaneId generateFeasibleStopPath(const PathWithLaneId & path) const;
+  PathWithLaneId generateStopPath(
+    const PullOverContextData & context_data, const std::string & detail) const;
+  PathWithLaneId generateFeasibleStopPath(
+    const PathWithLaneId & path, const std::string & detail) const;
 
   void keepStoppedWithCurrentPath(
     const PullOverContextData & ctx_data, PathWithLaneId & path) const;
@@ -420,7 +398,8 @@ class GoalPlannerModule : public SceneModuleInterface
   // plan pull over path
   BehaviorModuleOutput planPullOver(const PullOverContextData & context_data);
   BehaviorModuleOutput planPullOverAsOutput(const PullOverContextData & context_data);
-  BehaviorModuleOutput planPullOverAsCandidate(const PullOverContextData & context_data);
+  BehaviorModuleOutput planPullOverAsCandidate(
+    const PullOverContextData & context_data, const std::string & detail);
   std::optional<PullOverPath> selectPullOverPath(
     const PullOverContextData & context_data,
     const std::vector<PullOverPath> & pull_over_path_candidates,
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
index 716047c7ad1f1..e1f667d91b692 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
@@ -72,8 +72,7 @@ GoalPlannerModule::GoalPlannerModule(
   vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()},
   thread_safe_data_{mutex_, clock_},
   is_lane_parking_cb_running_{false},
-  is_freespace_parking_cb_running_{false},
-  debug_stop_pose_with_info_{&stop_pose_}
+  is_freespace_parking_cb_running_{false}
 {
   LaneDepartureChecker lane_departure_checker{};
   lane_departure_checker.setVehicleInfo(vehicle_info_);
@@ -1237,7 +1236,8 @@ void GoalPlannerModule::setOutput(
 
   if (!context_data.pull_over_path_opt) {
     // situation : not safe against static objects use stop_path
-    output.path = generateStopPath(context_data);
+    output.path = generateStopPath(
+      context_data, (goal_candidates_.empty() ? "no goal candidate" : "no static safe path"));
     RCLCPP_INFO_THROTTLE(
       getLogger(), *clock_, 5000, "Not found safe pull_over path, generate stop path");
     setDrivableAreaInfo(context_data, output);
@@ -1251,10 +1251,10 @@ void GoalPlannerModule::setOutput(
     // situation : not safe against dynamic objects after approval
     // insert stop point in current path if ego is able to stop with acceleration and jerk
     // constraints
-    output.path = generateFeasibleStopPath(pull_over_path.getCurrentPath());
+    output.path =
+      generateFeasibleStopPath(pull_over_path.getCurrentPath(), "unsafe against dynamic objects");
     RCLCPP_INFO_THROTTLE(
       getLogger(), *clock_, 5000, "Not safe against dynamic objects, generate stop path");
-    debug_stop_pose_with_info_.set(std::string("feasible stop after approval"));
   } else {
     // situation : (safe against static and dynamic objects) or (safe against static objects and
     // before approval) don't stop
@@ -1363,17 +1363,25 @@ BehaviorModuleOutput GoalPlannerModule::planPullOver(const PullOverContextData &
 {
   universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);
 
-  if (
-    path_decision_controller_.get_current_state().state !=
-    PathDecisionState::DecisionKind::DECIDED) {
-    return planPullOverAsCandidate(context_data);
+  const auto current_state = path_decision_controller_.get_current_state();
+  if (current_state.state != PathDecisionState::DecisionKind::DECIDED) {
+    const bool is_stable_safe = current_state.is_stable_safe;
+    // clang-format off
+    const std::string detail =
+      goal_candidates_.empty()                        ? "no goal candidate"              :
+      context_data.pull_over_path_candidates.empty()  ? "no path candidate"              :
+      !thread_safe_data_.foundPullOverPath()          ? "no static safe path"            :
+      !is_stable_safe                                 ? "unsafe against dynamic objects" :
+                                                        "too far goal";
+    // clang-format on
+    return planPullOverAsCandidate(context_data, detail);
   }
 
   return planPullOverAsOutput(context_data);
 }
 
 BehaviorModuleOutput GoalPlannerModule::planPullOverAsCandidate(
-  const PullOverContextData & context_data)
+  const PullOverContextData & context_data, const std::string & detail)
 {
   universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);
 
@@ -1385,7 +1393,7 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsCandidate(
   BehaviorModuleOutput output{};
   const BehaviorModuleOutput pull_over_output = planPullOverAsOutput(context_data);
   output.modified_goal = pull_over_output.modified_goal;
-  output.path = generateStopPath(context_data);
+  output.path = generateStopPath(context_data, detail);
   output.reference_path = getPreviousModuleOutput().reference_path;
 
   const auto target_drivable_lanes = utils::getNonOverlappingExpandedLanes(
@@ -1560,7 +1568,7 @@ BehaviorModuleOutput GoalPlannerModule::planWaitingApproval()
         "planner");
     } else {
       const auto & context_data = context_data_.value();
-      return planPullOverAsCandidate(context_data);
+      return planPullOverAsCandidate(context_data, "waiting approval");
     }
   }
 
@@ -1606,7 +1614,8 @@ void GoalPlannerModule::setParameters(const std::shared_ptr<GoalPlannerParameter
   parameters_ = parameters;
 }
 
-PathWithLaneId GoalPlannerModule::generateStopPath(const PullOverContextData & context_data) const
+PathWithLaneId GoalPlannerModule::generateStopPath(
+  const PullOverContextData & context_data, const std::string & detail) const
 {
   universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);
 
@@ -1656,28 +1665,20 @@ PathWithLaneId GoalPlannerModule::generateStopPath(const PullOverContextData & c
   //     (In the case of the curve lane, the position is not aligned due to the
   //     difference between the outer and inner sides)
   // 4. feasible stop
-  const auto stop_pose_with_info =
-    std::invoke([&]() -> std::optional<std::pair<Pose, std::string>> {
-      if (context_data.pull_over_path_opt) {
-        return std::make_pair(
-          context_data.pull_over_path_opt.value().start_pose(), "stop at selected start pose");
-      }
-      if (thread_safe_data_.get_closest_start_pose()) {
-        return std::make_pair(
-          thread_safe_data_.get_closest_start_pose().value(), "stop at closest start pose");
-      }
-      if (!decel_pose) {
-        return std::nullopt;
-      }
-      return std::make_pair(decel_pose.value(), "stop at search start pose");
-    });
-  if (!stop_pose_with_info) {
-    const auto feasible_stop_path = generateFeasibleStopPath(getPreviousModuleOutput().path);
-    // override stop pose info debug string
-    debug_stop_pose_with_info_.set(std::string("feasible stop: not calculate stop pose"));
+  const auto stop_pose_opt = std::invoke([&]() -> std::optional<Pose> {
+    if (context_data.pull_over_path_opt)
+      return context_data.pull_over_path_opt.value().start_pose();
+    if (thread_safe_data_.get_closest_start_pose())
+      return thread_safe_data_.get_closest_start_pose().value();
+    if (!decel_pose) return std::nullopt;
+    return decel_pose.value();
+  });
+  if (!stop_pose_opt.has_value()) {
+    const auto feasible_stop_path =
+      generateFeasibleStopPath(getPreviousModuleOutput().path, detail);
     return feasible_stop_path;
   }
-  const Pose stop_pose = stop_pose_with_info->first;
+  const Pose stop_pose = stop_pose_opt.value();
 
   // if stop pose is closer than min_stop_distance, stop as soon as possible
   const double ego_to_stop_distance = calcSignedArcLengthFromEgo(extended_prev_path, stop_pose);
@@ -1687,16 +1688,15 @@ PathWithLaneId GoalPlannerModule::generateStopPath(const PullOverContextData & c
   const bool is_stopped = std::abs(current_vel) < eps_vel;
   const double buffer = is_stopped ? stop_distance_buffer_ : 0.0;
   if (min_stop_distance && ego_to_stop_distance + buffer < *min_stop_distance) {
-    const auto feasible_stop_path = generateFeasibleStopPath(getPreviousModuleOutput().path);
-    debug_stop_pose_with_info_.set(
-      std::string("feasible stop: stop pose is closer than min_stop_distance"));
+    const auto feasible_stop_path =
+      generateFeasibleStopPath(getPreviousModuleOutput().path, detail);
     return feasible_stop_path;
   }
 
   // slow down for turn signal, insert stop point to stop_pose
   auto stop_path = extended_prev_path;
   decelerateForTurnSignal(stop_pose, stop_path);
-  debug_stop_pose_with_info_.set(stop_pose, stop_pose_with_info->second);
+  stop_pose_ = PoseWithDetail(stop_pose, detail);
 
   // slow down before the search area.
   if (decel_pose) {
@@ -1719,7 +1719,8 @@ PathWithLaneId GoalPlannerModule::generateStopPath(const PullOverContextData & c
   return stop_path;
 }
 
-PathWithLaneId GoalPlannerModule::generateFeasibleStopPath(const PathWithLaneId & path) const
+PathWithLaneId GoalPlannerModule::generateFeasibleStopPath(
+  const PathWithLaneId & path, const std::string & detail) const
 {
   universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);
 
@@ -1736,7 +1737,7 @@ PathWithLaneId GoalPlannerModule::generateFeasibleStopPath(const PathWithLaneId
   const auto stop_idx =
     autoware::motion_utils::insertStopPoint(current_pose, *min_stop_distance, stop_path.points);
   if (stop_idx) {
-    debug_stop_pose_with_info_.set(stop_path.points.at(*stop_idx).point.pose, "feasible stop");
+    stop_pose_ = PoseWithDetail(stop_path.points.at(*stop_idx).point.pose, detail);
   }
 
   return stop_path;
@@ -2564,20 +2565,6 @@ void GoalPlannerModule::setDebugData(const PullOverContextData & context_data)
     planner_type_marker_array.markers.push_back(marker);
     add(planner_type_marker_array);
   }
-
-  // Visualize stop pose info
-  if (debug_stop_pose_with_info_.pose->has_value()) {
-    visualization_msgs::msg::MarkerArray stop_pose_marker_array{};
-    const auto color = createMarkerColor(1.0, 1.0, 1.0, 0.99);
-    auto marker = createDefaultMarker(
-      header.frame_id, header.stamp, "stop_pose_info", 0,
-      visualization_msgs::msg::Marker::TEXT_VIEW_FACING, createMarkerScale(0.0, 0.0, 0.5), color);
-    marker.pose = debug_stop_pose_with_info_.pose->value();
-    marker.text = debug_stop_pose_with_info_.string;
-    stop_pose_marker_array.markers.push_back(marker);
-    add(stop_pose_marker_array);
-    add(createPoseMarkerArray(marker.pose, "stop_pose", 1.0, 1.0, 1.0, 0.9));
-  }
 }
 
 void GoalPlannerModule::GoalPlannerData::initializeOccupancyGridMap(
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp
index f80aad721a07c..d65e51997eb32 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp
@@ -111,7 +111,9 @@ BehaviorModuleOutput LaneChangeInterface::plan()
   path_reference_ = std::make_shared<PathWithLaneId>(output.reference_path);
   *prev_approved_path_ = getPreviousModuleOutput().path;
 
-  stop_pose_ = module_type_->getStopPose();
+  const auto stop_pose_opt = module_type_->getStopPose();
+  stop_pose_ = stop_pose_opt.has_value() ? PoseWithDetailOpt(PoseWithDetail(stop_pose_opt.value()))
+                                         : PoseWithDetailOpt();
 
   const auto & lane_change_debug = module_type_->getDebugData();
   for (const auto & [uuid, data] : lane_change_debug.collision_check_objects_after_approval) {
@@ -169,7 +171,9 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval()
   }
 
   path_reference_ = std::make_shared<PathWithLaneId>(out.reference_path);
-  stop_pose_ = module_type_->getStopPose();
+  const auto stop_pose_opt = module_type_->getStopPose();
+  stop_pose_ = stop_pose_opt.has_value() ? PoseWithDetailOpt(PoseWithDetail(stop_pose_opt.value()))
+                                         : PoseWithDetailOpt();
 
   if (!module_type_->isValidPath()) {
     path_candidate_ = std::make_shared<PathWithLaneId>();
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp
index 27f0dc4e58178..31d1f0072fe5c 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp
@@ -147,6 +147,17 @@ struct CandidateOutput
   double finish_distance_to_path_change{std::numeric_limits<double>::lowest()};
 };
 
+/**
+ * @brief Adds detail text to stop/slow/dead_pose virtual walls.
+ */
+struct PoseWithDetail
+{
+  Pose pose;
+  std::string detail;
+  explicit PoseWithDetail(const Pose & p, const std::string & d = "") : pose(p), detail(d) {}
+};
+using PoseWithDetailOpt = std::optional<PoseWithDetail>;
+
 struct PlannerData
 {
   Odometry::ConstSharedPtr self_odometry{};
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp
index 9fc4113e87d9e..391ac92411220 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp
@@ -270,34 +270,40 @@ class SceneModuleInterface
 
   std::string name() const { return name_; }
 
-  std::optional<Pose> getStopPose() const
+  PoseWithDetailOpt getStopPose() const
   {
     if (!stop_pose_) {
       return {};
     }
 
     const auto & base_link2front = planner_data_->parameters.base_link2front;
-    return calcOffsetPose(stop_pose_.value(), base_link2front, 0.0, 0.0);
+    return PoseWithDetail(
+      calcOffsetPose(stop_pose_.value().pose, base_link2front, 0.0, 0.0),
+      stop_pose_.value().detail);
   }
 
-  std::optional<Pose> getSlowPose() const
+  PoseWithDetailOpt getSlowPose() const
   {
     if (!slow_pose_) {
       return {};
     }
 
     const auto & base_link2front = planner_data_->parameters.base_link2front;
-    return calcOffsetPose(slow_pose_.value(), base_link2front, 0.0, 0.0);
+    return PoseWithDetail(
+      calcOffsetPose(slow_pose_.value().pose, base_link2front, 0.0, 0.0),
+      slow_pose_.value().detail);
   }
 
-  std::optional<Pose> getDeadPose() const
+  PoseWithDetailOpt getDeadPose() const
   {
     if (!dead_pose_) {
       return {};
     }
 
     const auto & base_link2front = planner_data_->parameters.base_link2front;
-    return calcOffsetPose(dead_pose_.value(), base_link2front, 0.0, 0.0);
+    return PoseWithDetail(
+      calcOffsetPose(dead_pose_.value().pose, base_link2front, 0.0, 0.0),
+      dead_pose_.value().detail);
   }
 
   void resetWallPoses() const
@@ -556,7 +562,7 @@ class SceneModuleInterface
   {
     if (stop_pose_.has_value()) {
       velocity_factor_interface_.set(
-        path.points, getEgoPose(), stop_pose_.value(), VelocityFactor::APPROACHING, "stop");
+        path.points, getEgoPose(), stop_pose_.value().pose, VelocityFactor::APPROACHING, "stop");
       return;
     }
 
@@ -565,7 +571,7 @@ class SceneModuleInterface
     }
 
     velocity_factor_interface_.set(
-      path.points, getEgoPose(), slow_pose_.value(), VelocityFactor::APPROACHING, "slow down");
+      path.points, getEgoPose(), slow_pose_.value().pose, VelocityFactor::APPROACHING, "slow down");
   }
 
   void setDrivableLanes(const std::vector<DrivableLanes> & drivable_lanes);
@@ -625,11 +631,11 @@ class SceneModuleInterface
 
   mutable VelocityFactorInterface velocity_factor_interface_;
 
-  mutable std::optional<Pose> stop_pose_{std::nullopt};
+  mutable PoseWithDetailOpt stop_pose_{std::nullopt};
 
-  mutable std::optional<Pose> slow_pose_{std::nullopt};
+  mutable PoseWithDetailOpt slow_pose_{std::nullopt};
 
-  mutable std::optional<Pose> dead_pose_{std::nullopt};
+  mutable PoseWithDetailOpt dead_pose_{std::nullopt};
 
   mutable MarkerArray info_marker_;
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp
index e199309dea8bb..73b133952935b 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp
@@ -16,6 +16,7 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__INTERFACE__SCENE_MODULE_MANAGER_INTERFACE_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__INTERFACE__SCENE_MODULE_MANAGER_INTERFACE_HPP_
 
+#include "autoware/behavior_path_planner_common/data_manager.hpp"
 #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "autoware/universe_utils/ros/parameter.hpp"
 
@@ -34,7 +35,6 @@
 #include <unordered_map>
 #include <utility>
 #include <vector>
-
 namespace autoware::behavior_path_planner
 {
 
@@ -160,25 +160,23 @@ class SceneModuleManagerInterface
         continue;
       }
 
-      const auto opt_stop_pose = m.lock()->getStopPose();
-      if (!!opt_stop_pose) {
-        const auto virtual_wall = createStopVirtualWallMarker(
-          opt_stop_pose.value(), m.lock()->name(), rclcpp::Clock().now(), marker_id);
-        appendMarkerArray(virtual_wall, &markers);
-      }
-
-      const auto opt_slow_pose = m.lock()->getSlowPose();
-      if (!!opt_slow_pose) {
-        const auto virtual_wall = createSlowDownVirtualWallMarker(
-          opt_slow_pose.value(), m.lock()->name(), rclcpp::Clock().now(), marker_id);
-        appendMarkerArray(virtual_wall, &markers);
-      }
-
-      const auto opt_dead_pose = m.lock()->getDeadPose();
-      if (!!opt_dead_pose) {
-        const auto virtual_wall = createDeadLineVirtualWallMarker(
-          opt_dead_pose.value(), m.lock()->name(), rclcpp::Clock().now(), marker_id);
-        appendMarkerArray(virtual_wall, &markers);
+      const std::vector<std::pair<
+        PoseWithDetailOpt, std::function<MarkerArray(
+                             const geometry_msgs::msg::Pose &, const std::string &, rclcpp::Time,
+                             uint32_t, double, const std::string &, bool)>>>
+        pose_and_func_vec = {
+          {m.lock()->getStopPose(), createStopVirtualWallMarker},
+          {m.lock()->getSlowPose(), createSlowDownVirtualWallMarker},
+          {m.lock()->getDeadPose(), createDeadLineVirtualWallMarker}};
+
+      for (const auto & [opt_pose, create_virtual_wall] : pose_and_func_vec) {
+        if (!!opt_pose) {
+          const auto detail = opt_pose.value().detail;
+          const auto text = m.lock()->name() + (detail.empty() ? "" : " (" + detail + ")");
+          const auto virtual_wall = create_virtual_wall(
+            opt_pose.value().pose, text, rclcpp::Clock().now(), marker_id, 0.0, "", true);
+          appendMarkerArray(virtual_wall, &markers);
+        }
       }
 
       const auto module_specific_wall = m.lock()->getModuleVirtualWall();
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp
index d34bfeb535f19..42329883de692 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp
@@ -70,8 +70,7 @@ std::pair<double, double> getPairsTerminalVelocityAndAccel(
 
 std::optional<PathWithLaneId> generateFeasibleStopPath(
   PathWithLaneId & current_path, std::shared_ptr<const PlannerData> planner_data,
-  std::optional<geometry_msgs::msg::Pose> & stop_pose, const double maximum_deceleration,
-  const double maximum_jerk);
+  PoseWithDetailOpt & stop_pose, const double maximum_deceleration, const double maximum_jerk);
 
 /**
  * @brief calculate end arc length to generate reference path considering the goal position
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp
index 18dee25919f98..5802f111848b4 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp
@@ -121,8 +121,7 @@ std::pair<double, double> getPairsTerminalVelocityAndAccel(
 
 std::optional<PathWithLaneId> generateFeasibleStopPath(
   PathWithLaneId & current_path, std::shared_ptr<const PlannerData> planner_data,
-  std::optional<geometry_msgs::msg::Pose> & stop_pose, const double maximum_deceleration,
-  const double maximum_jerk)
+  PoseWithDetailOpt & stop_pose, const double maximum_deceleration, const double maximum_jerk)
 {
   if (current_path.points.empty()) {
     return {};
@@ -146,7 +145,7 @@ std::optional<PathWithLaneId> generateFeasibleStopPath(
     return {};
   }
 
-  stop_pose = current_path.points.at(*stop_idx).point.pose;
+  stop_pose = PoseWithDetail(current_path.points.at(*stop_idx).point.pose);
 
   return current_path;
 }
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_parking_departure_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_parking_departure_utils.cpp
index 2b43cdaebd14d..cefa9151dd604 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_parking_departure_utils.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_parking_departure_utils.cpp
@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware/behavior_path_planner_common/data_manager.hpp"
 #include "autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 
@@ -222,7 +223,7 @@ TEST(BehaviorPathPlanningParkingDepartureUtil, generateFeasibleStopPath)
   data->self_acceleration = accel_with_covariance;
   auto planner_data = std::static_pointer_cast<const PlannerData>(data);
 
-  std::optional<geometry_msgs::msg::Pose> stop_pose;
+  autoware::behavior_path_planner::PoseWithDetailOpt stop_pose{std::nullopt};
 
   // condition: empty path
   PathWithLaneId path;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp
index bb70ae2638056..47eecb54e2b2a 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp
@@ -70,7 +70,7 @@ struct PullOutStatus
   Pose pull_out_start_pose{};
   bool prev_is_safe_dynamic_objects{false};
   std::shared_ptr<PathWithLaneId> prev_stop_path_after_approval{nullptr};
-  std::optional<Pose> stop_pose{std::nullopt};
+  PoseWithDetailOpt stop_pose{std::nullopt};
   //! record the first time when ego started forward-driving (maybe after backward driving
   //! completion) in AUTONOMOUS operation mode
   std::optional<rclcpp::Time> first_engaged_and_driving_forward_time{std::nullopt};
diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp
index 20cac638cebbd..c223390e454d1 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp
@@ -634,7 +634,7 @@ bool StartPlannerModule::isExecutionReady() const
   }();
 
   if (!is_safe) {
-    stop_pose_ = planner_data_->self_odometry->pose.pose;
+    stop_pose_ = PoseWithDetail(planner_data_->self_odometry->pose.pose);
   }
 
   return is_safe;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp
index 9509b9954304d..fe4a6d557da01 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp
@@ -168,7 +168,7 @@ lanelet::ConstLanelets getExtendLanes(
  */
 void insertDecelPoint(
   const Point & p_src, const double offset, const double velocity, PathWithLaneId & path,
-  std::optional<Pose> & p_out);
+  PoseWithDetailOpt & p_out);
 
 /**
  * @brief update envelope polygon based on object position reliability.
diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
index 76bfa621ac0e4..be4ce4a125c68 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
@@ -736,12 +736,11 @@ void StaticObstacleAvoidanceModule::fillDebugData(
   const auto prepare_distance = helper_->getNominalPrepareDistance();
   const auto total_avoid_distance = prepare_distance + avoidance_distance + constant_distance;
 
-  dead_pose_ = autoware::motion_utils::calcLongitudinalOffsetPose(
+  const auto dead_pose_opt = autoware::motion_utils::calcLongitudinalOffsetPose(
     data.reference_path.points, getEgoPosition(), o_front.longitudinal - total_avoid_distance);
-
-  if (!dead_pose_) {
-    dead_pose_ = getPose(data.reference_path.points.front());
-  }
+  dead_pose_ = dead_pose_opt.has_value()
+                 ? PoseWithDetail(dead_pose_opt.value())
+                 : PoseWithDetail(getPose(data.reference_path.points.front()));
 }
 
 void StaticObstacleAvoidanceModule::updateEgoBehavior(
@@ -1949,8 +1948,10 @@ void StaticObstacleAvoidanceModule::insertPrepareVelocity(ShiftedPath & shifted_
     shifted_path.path.points.at(i).point.longitudinal_velocity_mps = std::min(v_original, v_insert);
   }
 
-  slow_pose_ = autoware::motion_utils::calcLongitudinalOffsetPose(
+  const auto slow_pose_opt = autoware::motion_utils::calcLongitudinalOffsetPose(
     shifted_path.path.points, start_idx, distance_to_object);
+  slow_pose_ = slow_pose_opt.has_value() ? PoseWithDetailOpt(PoseWithDetail(slow_pose_opt.value()))
+                                         : std::nullopt;
 }
 
 void StaticObstacleAvoidanceModule::insertAvoidanceVelocity(ShiftedPath & shifted_path) const
@@ -1997,8 +1998,10 @@ void StaticObstacleAvoidanceModule::insertAvoidanceVelocity(ShiftedPath & shifte
     shifted_path.path.points.at(i).point.longitudinal_velocity_mps = std::min(v_original, v_target);
   }
 
-  slow_pose_ = autoware::motion_utils::calcLongitudinalOffsetPose(
+  const auto slow_pose_opt = autoware::motion_utils::calcLongitudinalOffsetPose(
     shifted_path.path.points, start_idx, distance_to_accel_end_point);
+  slow_pose_ = slow_pose_opt.has_value() ? PoseWithDetailOpt(PoseWithDetail(slow_pose_opt.value()))
+                                         : std::nullopt;
 }
 
 std::shared_ptr<AvoidanceDebugMsgArray> StaticObstacleAvoidanceModule::get_debug_msg_array() const
diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp
index c3d494c8ffe5d..8c09cd2e011f9 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp
@@ -1512,7 +1512,7 @@ lanelet::ConstLanelets getExtendLanes(
 
 void insertDecelPoint(
   const Point & p_src, const double offset, const double velocity, PathWithLaneId & path,
-  std::optional<Pose> & p_out)
+  PoseWithDetailOpt & p_out)
 {
   const auto decel_point =
     autoware::motion_utils::calcLongitudinalOffsetPoint(path.points, p_src, offset);
@@ -1541,7 +1541,7 @@ void insertDecelPoint(
 
   insertVelocity(path, velocity);
 
-  p_out = getPose(path.points.at(insert_idx.value()));
+  p_out = PoseWithDetail(getPose(path.points.at(insert_idx.value())));
 }
 
 void fillObjectEnvelopePolygon(
diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp
index 6911be800bdc2..ffccd2d64c189 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp
@@ -823,7 +823,7 @@ TEST(TestUtils, insertDecelPoint)
     constexpr double offset = 100.0;
     constexpr double velocity = 1.0;
 
-    std::optional<geometry_msgs::msg::Pose> p_out{std::nullopt};
+    PoseWithDetailOpt p_out{std::nullopt};
     insertDecelPoint(ego_position, offset, velocity, path, p_out);
 
     EXPECT_FALSE(p_out.has_value());
@@ -841,13 +841,13 @@ TEST(TestUtils, insertDecelPoint)
     constexpr double offset = 3.0;
     constexpr double velocity = 1.0;
 
-    std::optional<geometry_msgs::msg::Pose> p_out{std::nullopt};
+    PoseWithDetailOpt p_out{std::nullopt};
     insertDecelPoint(ego_position, offset, velocity, path, p_out);
 
     ASSERT_TRUE(p_out.has_value());
-    EXPECT_DOUBLE_EQ(p_out.value().position.x, 6.5);
-    EXPECT_DOUBLE_EQ(p_out.value().position.y, 0.0);
-    EXPECT_DOUBLE_EQ(p_out.value().position.z, 0.0);
+    EXPECT_DOUBLE_EQ(p_out.value().pose.position.x, 6.5);
+    EXPECT_DOUBLE_EQ(p_out.value().pose.position.y, 0.0);
+    EXPECT_DOUBLE_EQ(p_out.value().pose.position.z, 0.0);
     for (size_t i = 7; i < path.points.size(); i++) {
       EXPECT_DOUBLE_EQ(path.points.at(i).point.longitudinal_velocity_mps, 1.0);
     }

From 6fa1a723af4307f70964f79bc0a8705ebd9c7ccf Mon Sep 17 00:00:00 2001
From: Felix F Xu <84662027+felixf4xu@users.noreply.github.com>
Date: Wed, 11 Dec 2024 00:55:31 +0800
Subject: [PATCH 14/36] build(behavior_path_planner_common): fix #include
 <rclcpp/clock.hpp> (#6297)

Signed-off-by: Felix Xavier <felixfxu@gmail.com>
---
 .../autoware/behavior_path_planner_common/data_manager.hpp    | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp
index 31d1f0072fe5c..749d732aecd00 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp
@@ -23,8 +23,8 @@
 #include <autoware/route_handler/route_handler.hpp>
 #include <autoware_lanelet2_extension/regulatory_elements/Forward.hpp>
 #include <autoware_lanelet2_extension/utility/utilities.hpp>
-#include <rclcpp/rclcpp/clock.hpp>
-#include <rclcpp/rclcpp/time.hpp>
+#include <rclcpp/clock.hpp>
+#include <rclcpp/time.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>

From 386d2af4ac25e41ff76e757746dc45ad4bf40f8e Mon Sep 17 00:00:00 2001
From: Yoshi Ri <yoshiyoshidetteiu@gmail.com>
Date: Wed, 11 Dec 2024 09:59:18 +0900
Subject: [PATCH 15/36] feat: remove max rois limit in the image projection
 based fusion (#9596)

feat: remove max rois limit

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
---
 .../src/fusion_node.cpp                                       | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp b/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp
index 60406652310dd..6c575752b52e5 100644
--- a/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp
+++ b/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp
@@ -57,8 +57,8 @@ FusionNode<TargetMsg3D, ObjType, Msg2D>::FusionNode(
   }
   if (rois_number_ > 8) {
     RCLCPP_WARN(
-      this->get_logger(), "maximum rois_number is 8. current rois_number is %zu", rois_number_);
-    rois_number_ = 8;
+      this->get_logger(),
+      "Current rois_number is %zu. Large rois number may cause performance issue.", rois_number_);
   }
 
   // Set parameters

From 01944efd391fa85f16022571e40a63a96efae2f3 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Wed, 11 Dec 2024 10:05:23 +0900
Subject: [PATCH 16/36] fix(lidar_centerpoint): non-maximum suppression target
 decision logic (#9595)

* refactor(lidar_centerpoint): optimize non-maximum suppression search distance calculation

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat(lidar_centerpoint): do not suppress if one side of the object is pedestrian

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* style(pre-commit): autofix

* refactor(lidar_centerpoint): remove unused variables

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* refactor: remove unused variables

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

fix: implement non-maximum suppression logic to the transfusion

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

refactor: remove unused parameter iou_nms_target_class_names

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

Revert "fix: implement non-maximum suppression logic to the transfusion"

This reverts commit b8017fc366ec7d67234445ef5869f8beca9b6f45.

fix: revert transfusion modification

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 .../config/pointpainting.param.yaml           |  1 -
 .../docs/pointpainting-fusion.md              |  1 -
 .../schema/pointpainting.schema.json          |  6 ---
 .../src/pointpainting_fusion/node.cpp         |  3 --
 .../autoware_lidar_centerpoint/README.md      |  2 -
 .../config/centerpoint.param.yaml             |  1 -
 .../config/centerpoint_sigma.param.yaml       |  1 -
 .../config/centerpoint_tiny.param.yaml        |  1 -
 .../postprocess/non_maximum_suppression.hpp   | 29 +-------------
 .../postprocess/non_maximum_suppression.cpp   | 40 +++++++------------
 .../schema/centerpoint.schemal.json           |  6 ---
 .../autoware_lidar_centerpoint/src/node.cpp   |  3 --
 .../test/test_nms.cpp                         |  2 -
 13 files changed, 17 insertions(+), 79 deletions(-)

diff --git a/perception/autoware_image_projection_based_fusion/config/pointpainting.param.yaml b/perception/autoware_image_projection_based_fusion/config/pointpainting.param.yaml
index 9227e4fa9319a..5448dd48dc456 100644
--- a/perception/autoware_image_projection_based_fusion/config/pointpainting.param.yaml
+++ b/perception/autoware_image_projection_based_fusion/config/pointpainting.param.yaml
@@ -9,7 +9,6 @@
     post_process_params:
       # post-process params
       circle_nms_dist_threshold: 0.3
-      iou_nms_target_class_names: ["CAR"]
       iou_nms_search_distance_2d: 10.0
       iou_nms_threshold: 0.1
       score_threshold: 0.35
diff --git a/perception/autoware_image_projection_based_fusion/docs/pointpainting-fusion.md b/perception/autoware_image_projection_based_fusion/docs/pointpainting-fusion.md
index e04b0f48398cb..92f62443918c0 100644
--- a/perception/autoware_image_projection_based_fusion/docs/pointpainting-fusion.md
+++ b/perception/autoware_image_projection_based_fusion/docs/pointpainting-fusion.md
@@ -43,7 +43,6 @@ The lidar points are projected onto the output of an image-only 2d object detect
 | `trt_precision`                                  | string       | `fp16`                    | TensorRT inference precision: `fp32` or `fp16`              |
 | `post_process_params.score_threshold`            | double       | `0.4`                     | detected objects with score less than threshold are ignored |
 | `post_process_params.yaw_norm_thresholds`        | list[double] | [0.3, 0.3, 0.3, 0.3, 0.0] | An array of distance threshold values of norm of yaw [rad]. |
-| `post_process_params.iou_nms_target_class_names` | list[string] | ["CAR"]                   | An array of class names to be target in NMS.                |
 | `post_process_params.iou_nms_search_distance_2d` | double       | 10.0                      | A maximum distance value to search the nearest objects.     |
 | `post_process_params.iou_nms_threshold`          | double       | 0.1                       | A threshold value of NMS using IoU score.                   |
 | `post_process_params.has_twist`                  | boolean      | false                     | Indicates whether the model outputs twist value.            |
diff --git a/perception/autoware_image_projection_based_fusion/schema/pointpainting.schema.json b/perception/autoware_image_projection_based_fusion/schema/pointpainting.schema.json
index 57d8bc500f3c6..ab52ac0fcdf2c 100644
--- a/perception/autoware_image_projection_based_fusion/schema/pointpainting.schema.json
+++ b/perception/autoware_image_projection_based_fusion/schema/pointpainting.schema.json
@@ -46,12 +46,6 @@
               "minimum": 0.0,
               "maximum": 1.0
             },
-            "iou_nms_target_class_names": {
-              "type": "array",
-              "description": "An array of class names to be target in NMS.",
-              "default": ["CAR"],
-              "uniqueItems": true
-            },
             "iou_nms_search_distance_2d": {
               "type": "number",
               "description": "A maximum distance value to search the nearest objects.",
diff --git a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp
index 4e0f88e2134ac..d4601e26dda46 100644
--- a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp
+++ b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp
@@ -171,9 +171,6 @@ PointPaintingFusionNode::PointPaintingFusionNode(const rclcpp::NodeOptions & opt
 
   {
     autoware::lidar_centerpoint::NMSParams p;
-    p.nms_type_ = autoware::lidar_centerpoint::NMS_TYPE::IoU_BEV;
-    p.target_class_names_ = this->declare_parameter<std::vector<std::string>>(
-      "post_process_params.iou_nms_target_class_names");
     p.search_distance_2d_ =
       this->declare_parameter<double>("post_process_params.iou_nms_search_distance_2d");
     p.iou_threshold_ = this->declare_parameter<double>("post_process_params.iou_nms_threshold");
diff --git a/perception/autoware_lidar_centerpoint/README.md b/perception/autoware_lidar_centerpoint/README.md
index 471712a637dec..06ded16d5fd40 100644
--- a/perception/autoware_lidar_centerpoint/README.md
+++ b/perception/autoware_lidar_centerpoint/README.md
@@ -56,7 +56,6 @@ Note that these parameters are associated with ONNX file, predefined during the
 | `trt_precision`                                  | string       | `fp16`                    | TensorRT inference precision: `fp32` or `fp16`                |
 | `post_process_params.score_threshold`            | double       | `0.4`                     | detected objects with score less than threshold are ignored   |
 | `post_process_params.yaw_norm_thresholds`        | list[double] | [0.3, 0.3, 0.3, 0.3, 0.0] | An array of distance threshold values of norm of yaw [rad].   |
-| `post_process_params.iou_nms_target_class_names` | list[string] | -                         | target classes for IoU-based Non Maximum Suppression          |
 | `post_process_params.iou_nms_search_distance_2d` | double       | -                         | If two objects are farther than the value, NMS isn't applied. |
 | `post_process_params.iou_nms_threshold`          | double       | -                         | IoU threshold for the IoU-based Non Maximum Suppression       |
 | `post_process_params.has_twist`                  | boolean      | false                     | Indicates whether the model outputs twist value.              |
@@ -267,7 +266,6 @@ point_cloud_range, point_feature_size, voxel_size, etc. according to the trainin
     encoder_in_feature_size: 9
     # post-process params
     circle_nms_dist_threshold: 0.5
-    iou_nms_target_class_names: ["CAR"]
     iou_nms_search_distance_2d: 10.0
     iou_nms_threshold: 0.1
     yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
diff --git a/perception/autoware_lidar_centerpoint/config/centerpoint.param.yaml b/perception/autoware_lidar_centerpoint/config/centerpoint.param.yaml
index 53d77e8d1c42c..d2f6d3bb3ab6c 100644
--- a/perception/autoware_lidar_centerpoint/config/centerpoint.param.yaml
+++ b/perception/autoware_lidar_centerpoint/config/centerpoint.param.yaml
@@ -10,7 +10,6 @@
     post_process_params:
       # post-process params
       circle_nms_dist_threshold: 0.5
-      iou_nms_target_class_names: ["CAR"]
       iou_nms_search_distance_2d: 10.0
       iou_nms_threshold: 0.1
       score_threshold: 0.35
diff --git a/perception/autoware_lidar_centerpoint/config/centerpoint_sigma.param.yaml b/perception/autoware_lidar_centerpoint/config/centerpoint_sigma.param.yaml
index bd5fc5f3567a5..f4a5d59c3c06f 100644
--- a/perception/autoware_lidar_centerpoint/config/centerpoint_sigma.param.yaml
+++ b/perception/autoware_lidar_centerpoint/config/centerpoint_sigma.param.yaml
@@ -11,7 +11,6 @@
     post_process_params:
       # post-process params
       circle_nms_dist_threshold: 0.5
-      iou_nms_target_class_names: ["CAR"]
       iou_nms_search_distance_2d: 10.0
       iou_nms_threshold: 0.1
       yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
diff --git a/perception/autoware_lidar_centerpoint/config/centerpoint_tiny.param.yaml b/perception/autoware_lidar_centerpoint/config/centerpoint_tiny.param.yaml
index 53d77e8d1c42c..d2f6d3bb3ab6c 100644
--- a/perception/autoware_lidar_centerpoint/config/centerpoint_tiny.param.yaml
+++ b/perception/autoware_lidar_centerpoint/config/centerpoint_tiny.param.yaml
@@ -10,7 +10,6 @@
     post_process_params:
       # post-process params
       circle_nms_dist_threshold: 0.5
-      iou_nms_target_class_names: ["CAR"]
       iou_nms_search_distance_2d: 10.0
       iou_nms_threshold: 0.1
       score_threshold: 0.35
diff --git a/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/postprocess/non_maximum_suppression.hpp b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/postprocess/non_maximum_suppression.hpp
index 57abd053af718..74bc5c2f57deb 100644
--- a/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/postprocess/non_maximum_suppression.hpp
+++ b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/postprocess/non_maximum_suppression.hpp
@@ -28,36 +28,12 @@ namespace autoware::lidar_centerpoint
 {
 using autoware_perception_msgs::msg::DetectedObject;
 
-// TODO(yukke42): now only support IoU_BEV
-enum class NMS_TYPE {
-  IoU_BEV
-  // IoU_3D
-  // Distance_2D
-  // Distance_3D
-};
-
 struct NMSParams
 {
-  NMS_TYPE nms_type_{};
-  std::vector<std::string> target_class_names_{};
   double search_distance_2d_{};
   double iou_threshold_{};
-  // double distance_threshold_{};
 };
 
-std::vector<bool> classNamesToBooleanMask(const std::vector<std::string> & class_names)
-{
-  std::vector<bool> mask;
-  constexpr std::size_t num_object_classification = 8;
-  mask.resize(num_object_classification);
-  for (const auto & class_name : class_names) {
-    const auto semantic_type = getSemanticType(class_name);
-    mask.at(semantic_type) = true;
-  }
-
-  return mask;
-}
-
 class NonMaximumSuppression
 {
 public:
@@ -66,14 +42,13 @@ class NonMaximumSuppression
   std::vector<DetectedObject> apply(const std::vector<DetectedObject> &);
 
 private:
-  bool isTargetLabel(const std::uint8_t);
-
   bool isTargetPairObject(const DetectedObject &, const DetectedObject &);
 
   Eigen::MatrixXd generateIoUMatrix(const std::vector<DetectedObject> &);
 
   NMSParams params_{};
-  std::vector<bool> target_class_mask_{};
+
+  double search_distance_2d_sq_{};
 };
 
 }  // namespace autoware::lidar_centerpoint
diff --git a/perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp b/perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp
index 9764d20628f24..dbc6924f6fd25 100644
--- a/perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp
+++ b/perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp
@@ -22,6 +22,7 @@
 
 namespace autoware::lidar_centerpoint
 {
+using Label = autoware_perception_msgs::msg::ObjectClassification;
 
 void NonMaximumSuppression::setParameters(const NMSParams & params)
 {
@@ -29,15 +30,7 @@ void NonMaximumSuppression::setParameters(const NMSParams & params)
   assert(params.iou_threshold_ >= 0.0 && params.iou_threshold_ <= 1.0);
 
   params_ = params;
-  target_class_mask_ = classNamesToBooleanMask(params.target_class_names_);
-}
-
-bool NonMaximumSuppression::isTargetLabel(const uint8_t label)
-{
-  if (label >= target_class_mask_.size()) {
-    return false;
-  }
-  return target_class_mask_.at(label);
+  search_distance_2d_sq_ = params.search_distance_2d_ * params.search_distance_2d_;
 }
 
 bool NonMaximumSuppression::isTargetPairObject(
@@ -48,15 +41,15 @@ bool NonMaximumSuppression::isTargetPairObject(
   const auto label2 =
     autoware::object_recognition_utils::getHighestProbLabel(object2.classification);
 
-  if (isTargetLabel(label1) && isTargetLabel(label2)) {
-    return true;
+  // if labels are not the same, and one of them is pedestrian, do not suppress
+  if (label1 != label2 && (label1 == Label::PEDESTRIAN || label2 == Label::PEDESTRIAN)) {
+    return false;
   }
 
-  const auto search_sqr_dist_2d = params_.search_distance_2d_ * params_.search_distance_2d_;
   const auto sqr_dist_2d = autoware::universe_utils::calcSquaredDistance2d(
     autoware::object_recognition_utils::getPose(object1),
     autoware::object_recognition_utils::getPose(object2));
-  return sqr_dist_2d <= search_sqr_dist_2d;
+  return sqr_dist_2d <= search_distance_2d_sq_;
 }
 
 Eigen::MatrixXd NonMaximumSuppression::generateIoUMatrix(
@@ -73,14 +66,12 @@ Eigen::MatrixXd NonMaximumSuppression::generateIoUMatrix(
         continue;
       }
 
-      if (params_.nms_type_ == NMS_TYPE::IoU_BEV) {
-        const double iou = autoware::object_recognition_utils::get2dIoU(target_obj, source_obj);
-        triangular_matrix(target_i, source_i) = iou;
-        // NOTE: If the target object has any objects with iou > iou_threshold, it
-        // will be suppressed regardless of later results.
-        if (iou > params_.iou_threshold_) {
-          break;
-        }
+      const double iou = autoware::object_recognition_utils::get2dIoU(target_obj, source_obj);
+      triangular_matrix(target_i, source_i) = iou;
+      // NOTE: If the target object has any objects with iou > iou_threshold, it
+      // will be suppressed regardless of later results.
+      if (iou > params_.iou_threshold_) {
+        break;
       }
     }
   }
@@ -97,10 +88,9 @@ std::vector<DetectedObject> NonMaximumSuppression::apply(
   output_objects.reserve(input_objects.size());
   for (std::size_t i = 0; i < input_objects.size(); ++i) {
     const auto value = iou_matrix.row(i).maxCoeff();
-    if (params_.nms_type_ == NMS_TYPE::IoU_BEV) {
-      if (value <= params_.iou_threshold_) {
-        output_objects.emplace_back(input_objects.at(i));
-      }
+
+    if (value <= params_.iou_threshold_) {
+      output_objects.emplace_back(input_objects.at(i));
     }
   }
 
diff --git a/perception/autoware_lidar_centerpoint/schema/centerpoint.schemal.json b/perception/autoware_lidar_centerpoint/schema/centerpoint.schemal.json
index c3268f0e90d9b..f2c12b7588f9b 100644
--- a/perception/autoware_lidar_centerpoint/schema/centerpoint.schemal.json
+++ b/perception/autoware_lidar_centerpoint/schema/centerpoint.schemal.json
@@ -42,12 +42,6 @@
               "minimum": 0.0,
               "maximum": 1.0
             },
-            "iou_nms_target_class_names": {
-              "type": "array",
-              "description": "An array of class names to be target in NMS.",
-              "default": ["CAR"],
-              "uniqueItems": true
-            },
             "iou_nms_search_distance_2d": {
               "type": "number",
               "description": "A maximum distance value to search the nearest objects.",
diff --git a/perception/autoware_lidar_centerpoint/src/node.cpp b/perception/autoware_lidar_centerpoint/src/node.cpp
index 5b92e5c811a23..59acceeac54d6 100644
--- a/perception/autoware_lidar_centerpoint/src/node.cpp
+++ b/perception/autoware_lidar_centerpoint/src/node.cpp
@@ -80,9 +80,6 @@ LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_opti
 
   {
     NMSParams p;
-    p.nms_type_ = NMS_TYPE::IoU_BEV;
-    p.target_class_names_ = this->declare_parameter<std::vector<std::string>>(
-      "post_process_params.iou_nms_target_class_names");
     p.search_distance_2d_ =
       this->declare_parameter<double>("post_process_params.iou_nms_search_distance_2d");
     p.iou_threshold_ = this->declare_parameter<double>("post_process_params.iou_nms_threshold");
diff --git a/perception/autoware_lidar_centerpoint/test/test_nms.cpp b/perception/autoware_lidar_centerpoint/test/test_nms.cpp
index fd9e78b0c6585..9a2217f7af0b4 100644
--- a/perception/autoware_lidar_centerpoint/test/test_nms.cpp
+++ b/perception/autoware_lidar_centerpoint/test/test_nms.cpp
@@ -24,8 +24,6 @@ TEST(NonMaximumSuppressionTest, Apply)
   autoware::lidar_centerpoint::NMSParams params;
   params.search_distance_2d_ = 1.0;
   params.iou_threshold_ = 0.2;
-  params.nms_type_ = autoware::lidar_centerpoint::NMS_TYPE::IoU_BEV;
-  params.target_class_names_ = {"CAR"};
   nms.setParameters(params);
 
   std::vector<autoware::lidar_centerpoint::DetectedObject> input_objects(4);

From da5284cb89cb4e4263ead39d8a083534032fa848 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Wed, 11 Dec 2024 15:59:20 +0900
Subject: [PATCH 17/36] fix(autoware_lidar_transfusion): non-maximum
 suppression target decision logic (#9612)

fix: non-maximum suppression target decision logic

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../config/transfusion.param.yaml             |  1 -
 .../postprocess/non_maximum_suppression.hpp   | 28 +------------
 .../postprocess/non_maximum_suppression.cpp   | 40 +++++++------------
 .../schema/transfusion.schema.dummy.json      | 10 -----
 .../src/lidar_transfusion_node.cpp            |  3 --
 .../test/test_nms.cpp                         |  2 -
 6 files changed, 17 insertions(+), 67 deletions(-)

diff --git a/perception/autoware_lidar_transfusion/config/transfusion.param.yaml b/perception/autoware_lidar_transfusion/config/transfusion.param.yaml
index 47eaa800e62fc..979f8b9cc09e3 100644
--- a/perception/autoware_lidar_transfusion/config/transfusion.param.yaml
+++ b/perception/autoware_lidar_transfusion/config/transfusion.param.yaml
@@ -10,7 +10,6 @@
     densification_world_frame_id: map
     # post-process params
     circle_nms_dist_threshold: 0.5
-    iou_nms_target_class_names: ["CAR"]
     iou_nms_search_distance_2d: 10.0
     iou_nms_threshold: 0.1
     yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]  # refers to the class_names
diff --git a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/postprocess/non_maximum_suppression.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/postprocess/non_maximum_suppression.hpp
index 9f07d2448fcae..26c4e324781d0 100644
--- a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/postprocess/non_maximum_suppression.hpp
+++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/postprocess/non_maximum_suppression.hpp
@@ -28,35 +28,12 @@ namespace autoware::lidar_transfusion
 {
 using autoware_perception_msgs::msg::DetectedObject;
 
-enum class NMS_TYPE {
-  IoU_BEV
-  // IoU_3D
-  // Distance_2D
-  // Distance_3D
-};
-
 struct NMSParams
 {
-  NMS_TYPE nms_type_{};
-  std::vector<std::string> target_class_names_{};
   double search_distance_2d_{};
   double iou_threshold_{};
-  // double distance_threshold_{};
 };
 
-std::vector<bool> classNamesToBooleanMask(const std::vector<std::string> & class_names)
-{
-  std::vector<bool> mask;
-  constexpr std::size_t num_object_classification = 8;
-  mask.resize(num_object_classification);
-  for (const auto & class_name : class_names) {
-    const auto semantic_type = getSemanticType(class_name);
-    mask.at(semantic_type) = true;
-  }
-
-  return mask;
-}
-
 class NonMaximumSuppression
 {
 public:
@@ -65,14 +42,13 @@ class NonMaximumSuppression
   std::vector<DetectedObject> apply(const std::vector<DetectedObject> &);
 
 private:
-  bool isTargetLabel(const std::uint8_t);
-
   bool isTargetPairObject(const DetectedObject &, const DetectedObject &);
 
   Eigen::MatrixXd generateIoUMatrix(const std::vector<DetectedObject> &);
 
   NMSParams params_{};
-  std::vector<bool> target_class_mask_{};
+
+  double search_distance_2d_sq_{};
 };
 
 }  // namespace autoware::lidar_transfusion
diff --git a/perception/autoware_lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp b/perception/autoware_lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp
index 1a288d1b0fd44..003358dc6b431 100644
--- a/perception/autoware_lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp
+++ b/perception/autoware_lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp
@@ -22,6 +22,7 @@
 
 namespace autoware::lidar_transfusion
 {
+using Label = autoware_perception_msgs::msg::ObjectClassification;
 
 void NonMaximumSuppression::setParameters(const NMSParams & params)
 {
@@ -29,15 +30,7 @@ void NonMaximumSuppression::setParameters(const NMSParams & params)
   assert(params.iou_threshold_ >= 0.0 && params.iou_threshold_ <= 1.0);
 
   params_ = params;
-  target_class_mask_ = classNamesToBooleanMask(params.target_class_names_);
-}
-
-bool NonMaximumSuppression::isTargetLabel(const uint8_t label)
-{
-  if (label >= target_class_mask_.size()) {
-    return false;
-  }
-  return target_class_mask_.at(label);
+  search_distance_2d_sq_ = params.search_distance_2d_ * params.search_distance_2d_;
 }
 
 bool NonMaximumSuppression::isTargetPairObject(
@@ -48,15 +41,15 @@ bool NonMaximumSuppression::isTargetPairObject(
   const auto label2 =
     autoware::object_recognition_utils::getHighestProbLabel(object2.classification);
 
-  if (isTargetLabel(label1) && isTargetLabel(label2)) {
-    return true;
+  // if labels are not the same, and one of them is pedestrian, do not suppress
+  if (label1 != label2 && (label1 == Label::PEDESTRIAN || label2 == Label::PEDESTRIAN)) {
+    return false;
   }
 
-  const auto search_sqr_dist_2d = params_.search_distance_2d_ * params_.search_distance_2d_;
   const auto sqr_dist_2d = autoware::universe_utils::calcSquaredDistance2d(
     autoware::object_recognition_utils::getPose(object1),
     autoware::object_recognition_utils::getPose(object2));
-  return sqr_dist_2d <= search_sqr_dist_2d;
+  return sqr_dist_2d <= search_distance_2d_sq_;
 }
 
 Eigen::MatrixXd NonMaximumSuppression::generateIoUMatrix(
@@ -73,14 +66,12 @@ Eigen::MatrixXd NonMaximumSuppression::generateIoUMatrix(
         continue;
       }
 
-      if (params_.nms_type_ == NMS_TYPE::IoU_BEV) {
-        const double iou = autoware::object_recognition_utils::get2dIoU(target_obj, source_obj);
-        triangular_matrix(target_i, source_i) = iou;
-        // NOTE: If the target object has any objects with iou > iou_threshold, it
-        // will be suppressed regardless of later results.
-        if (iou > params_.iou_threshold_) {
-          break;
-        }
+      const double iou = autoware::object_recognition_utils::get2dIoU(target_obj, source_obj);
+      triangular_matrix(target_i, source_i) = iou;
+      // NOTE: If the target object has any objects with iou > iou_threshold, it
+      // will be suppressed regardless of later results.
+      if (iou > params_.iou_threshold_) {
+        break;
       }
     }
   }
@@ -97,10 +88,9 @@ std::vector<DetectedObject> NonMaximumSuppression::apply(
   output_objects.reserve(input_objects.size());
   for (std::size_t i = 0; i < input_objects.size(); ++i) {
     const auto value = iou_matrix.row(i).maxCoeff();
-    if (params_.nms_type_ == NMS_TYPE::IoU_BEV) {
-      if (value <= params_.iou_threshold_) {
-        output_objects.emplace_back(input_objects.at(i));
-      }
+
+    if (value <= params_.iou_threshold_) {
+      output_objects.emplace_back(input_objects.at(i));
     }
   }
 
diff --git a/perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json b/perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json
index 6d9029f7e6806..739c641b7cefb 100644
--- a/perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json
+++ b/perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json
@@ -48,15 +48,6 @@
           "default": 0.5,
           "minimum": 0.0
         },
-        "iou_nms_target_class_names": {
-          "type": "array",
-          "items": {
-            "type": "string"
-          },
-          "description": "An array of class names to be target in NMS.",
-          "default": ["CAR"],
-          "uniqueItems": true
-        },
         "iou_nms_search_distance_2d": {
           "type": "number",
           "description": "A maximum distance value to search the nearest objects.",
@@ -95,7 +86,6 @@
         "densification_num_past_frames",
         "densification_world_frame_id",
         "circle_nms_dist_threshold",
-        "iou_nms_target_class_names",
         "iou_nms_search_distance_2d",
         "iou_nms_threshold",
         "yaw_norm_thresholds",
diff --git a/perception/autoware_lidar_transfusion/src/lidar_transfusion_node.cpp b/perception/autoware_lidar_transfusion/src/lidar_transfusion_node.cpp
index c75a5f434aeed..8bb70a821621f 100644
--- a/perception/autoware_lidar_transfusion/src/lidar_transfusion_node.cpp
+++ b/perception/autoware_lidar_transfusion/src/lidar_transfusion_node.cpp
@@ -65,9 +65,6 @@ LidarTransfusionNode::LidarTransfusionNode(const rclcpp::NodeOptions & options)
     static_cast<float>(this->declare_parameter<double>("circle_nms_dist_threshold", descriptor));
   {  // IoU NMS
     NMSParams p;
-    p.nms_type_ = NMS_TYPE::IoU_BEV;
-    p.target_class_names_ =
-      this->declare_parameter<std::vector<std::string>>("iou_nms_target_class_names", descriptor);
     p.search_distance_2d_ =
       this->declare_parameter<double>("iou_nms_search_distance_2d", descriptor);
     p.iou_threshold_ = this->declare_parameter<double>("iou_nms_threshold", descriptor);
diff --git a/perception/autoware_lidar_transfusion/test/test_nms.cpp b/perception/autoware_lidar_transfusion/test/test_nms.cpp
index 5449f61aa2284..dcb523abd96d8 100644
--- a/perception/autoware_lidar_transfusion/test/test_nms.cpp
+++ b/perception/autoware_lidar_transfusion/test/test_nms.cpp
@@ -24,8 +24,6 @@ TEST(NonMaximumSuppressionTest, Apply)
   autoware::lidar_transfusion::NMSParams params;
   params.search_distance_2d_ = 1.0;
   params.iou_threshold_ = 0.2;
-  params.nms_type_ = autoware::lidar_transfusion::NMS_TYPE::IoU_BEV;
-  params.target_class_names_ = {"CAR"};
   nms.setParameters(params);
 
   std::vector<autoware::lidar_transfusion::DetectedObject> input_objects(4);

From 26b1ab6fd4b21dfd41fb4b5b9ebb7976f5b10ca8 Mon Sep 17 00:00:00 2001
From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
Date: Wed, 11 Dec 2024 18:16:28 +0900
Subject: [PATCH 18/36] refactor(obstacle_cruise_planner)!: refactor rviz and
 terminal info (#9594)

Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>
---
 .../obstacle_cruise_planner/common_structs.hpp     |  7 +++++--
 .../autoware/obstacle_cruise_planner/node.hpp      |  3 +++
 .../autoware_obstacle_cruise_planner/package.xml   |  1 +
 .../autoware_obstacle_cruise_planner/src/node.cpp  | 14 +++++++++-----
 .../src/pid_based_planner/pid_based_planner.cpp    |  5 ++++-
 .../autoware_obstacle_cruise_planner/src/utils.cpp |  2 +-
 6 files changed, 23 insertions(+), 9 deletions(-)

diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp
index 7bd4d37ba5797..8abff415e47df 100644
--- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp
+++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp
@@ -169,12 +169,15 @@ struct CruiseObstacle : public TargetObstacleInterface
   CruiseObstacle(
     const std::string & arg_uuid, const rclcpp::Time & arg_stamp,
     const geometry_msgs::msg::Pose & arg_pose, const double arg_lon_velocity,
-    const double arg_lat_velocity, const std::vector<PointWithStamp> & arg_collision_points)
+    const double arg_lat_velocity, const std::vector<PointWithStamp> & arg_collision_points,
+    bool arg_is_yield_obstacle = false)
   : TargetObstacleInterface(arg_uuid, arg_stamp, arg_pose, arg_lon_velocity, arg_lat_velocity),
-    collision_points(arg_collision_points)
+    collision_points(arg_collision_points),
+    is_yield_obstacle(arg_is_yield_obstacle)
   {
   }
   std::vector<PointWithStamp> collision_points;  // time-series collision points
+  bool is_yield_obstacle;
 };
 
 struct SlowDownObstacle : public TargetObstacleInterface
diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp
index 629dba73e85dc..6a106776e48b5 100644
--- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp
+++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp
@@ -24,6 +24,7 @@
 #include "autoware/universe_utils/ros/polling_subscriber.hpp"
 #include "autoware/universe_utils/system/stop_watch.hpp"
 
+#include <autoware/objects_of_interest_marker_interface/objects_of_interest_marker_interface.hpp>
 #include <autoware/universe_utils/ros/published_time_publisher.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -180,6 +181,8 @@ class ObstacleCruisePlannerNode : public rclcpp::Node
     this, "~/input/pointcloud"};
   autoware::universe_utils::InterProcessPollingSubscriber<AccelWithCovarianceStamped> acc_sub_{
     this, "~/input/acceleration"};
+  autoware::objects_of_interest_marker_interface::ObjectsOfInterestMarkerInterface
+    objects_of_interest_marker_interface_{this, "obstacle_cruise_planner"};
 
   std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
   std::shared_ptr<tf2_ros::TransformListener> tf_listener_{nullptr};
diff --git a/planning/autoware_obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml
index df760ee59de37..75405c3aded2a 100644
--- a/planning/autoware_obstacle_cruise_planner/package.xml
+++ b/planning/autoware_obstacle_cruise_planner/package.xml
@@ -23,6 +23,7 @@
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_object_recognition_utils</depend>
+  <depend>autoware_objects_of_interest_marker_interface</depend>
   <depend>autoware_osqp_interface</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
diff --git a/planning/autoware_obstacle_cruise_planner/src/node.cpp b/planning/autoware_obstacle_cruise_planner/src/node.cpp
index 8275f2a1cd7d4..6931ff58e8457 100644
--- a/planning/autoware_obstacle_cruise_planner/src/node.cpp
+++ b/planning/autoware_obstacle_cruise_planner/src/node.cpp
@@ -515,10 +515,9 @@ ObstacleCruisePlannerNode::ObstacleCruisePlannerNode(const rclcpp::NodeOptions &
 
   // debug publisher
   debug_calculation_time_pub_ = create_publisher<Float64Stamped>("~/debug/processing_time_ms", 1);
-  debug_cruise_wall_marker_pub_ = create_publisher<MarkerArray>("~/debug/cruise/virtual_wall", 1);
-  debug_stop_wall_marker_pub_ = create_publisher<MarkerArray>("~/virtual_wall", 1);
-  debug_slow_down_wall_marker_pub_ =
-    create_publisher<MarkerArray>("~/debug/slow_down/virtual_wall", 1);
+  debug_cruise_wall_marker_pub_ = create_publisher<MarkerArray>("~/virtual_wall/cruise", 1);
+  debug_stop_wall_marker_pub_ = create_publisher<MarkerArray>("~/virtual_wall/stop", 1);
+  debug_slow_down_wall_marker_pub_ = create_publisher<MarkerArray>("~/virtual_wall/slow_down", 1);
   debug_marker_pub_ = create_publisher<MarkerArray>("~/debug/marker", 1);
   debug_stop_planning_info_pub_ =
     create_publisher<Float32MultiArrayStamped>("~/debug/stop_planning_info", 1);
@@ -729,6 +728,7 @@ void ObstacleCruisePlannerNode::onTrajectory(const Trajectory::ConstSharedPtr ms
   planner_ptr_->publishMetrics(now());
   publishDebugMarker();
   publishDebugInfo();
+  objects_of_interest_marker_interface_.publishMarkerArray();
 
   // 9. Publish and print calculation time
   const double calculation_time = stop_watch_.toc(__func__);
@@ -1385,7 +1385,8 @@ std::optional<CruiseObstacle> ObstacleCruisePlannerNode::createYieldCruiseObstac
     obstacle.pose,
     obstacle.longitudinal_velocity,
     obstacle.approach_velocity,
-    collision_points.value()};
+    collision_points.value(),
+    true};
 }
 
 std::optional<std::vector<CruiseObstacle>> ObstacleCruisePlannerNode::findYieldCruiseObstacles(
@@ -1456,6 +1457,9 @@ std::optional<std::vector<CruiseObstacle>> ObstacleCruisePlannerNode::findYieldC
         const auto yield_obstacle = createYieldCruiseObstacle(moving_obstacle, traj_points);
         if (yield_obstacle) {
           yield_obstacles.push_back(*yield_obstacle);
+          using autoware::objects_of_interest_marker_interface::ColorName;
+          objects_of_interest_marker_interface_.insertObjectData(
+            stopped_obstacle.pose, stopped_obstacle.shape, ColorName::RED);
         }
       }
     }
diff --git a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp
index f8982ed3fec2a..544597f05ff75 100644
--- a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp
+++ b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp
@@ -320,8 +320,11 @@ std::vector<TrajectoryPoint> PIDBasedPlanner::planCruise(
       const size_t wall_idx = obstacle_cruise_utils::getIndexWithLongitudinalOffset(
         stop_traj_points, dist_to_rss_wall, ego_idx);
 
+      const std::string wall_reason_string = cruise_obstacle_info->obstacle.is_yield_obstacle
+                                               ? "obstacle cruise (yield)"
+                                               : "obstacle cruise";
       auto markers = autoware::motion_utils::createSlowDownVirtualWallMarker(
-        stop_traj_points.at(wall_idx).pose, "obstacle cruise", planner_data.current_time, 0);
+        stop_traj_points.at(wall_idx).pose, wall_reason_string, planner_data.current_time, 0);
       // NOTE: use a different color from slow down one to visualize cruise and slow down
       // separately.
       markers.markers.front().color =
diff --git a/planning/autoware_obstacle_cruise_planner/src/utils.cpp b/planning/autoware_obstacle_cruise_planner/src/utils.cpp
index dd4373c115fe0..82f4e6978181f 100644
--- a/planning/autoware_obstacle_cruise_planner/src/utils.cpp
+++ b/planning/autoware_obstacle_cruise_planner/src/utils.cpp
@@ -92,7 +92,7 @@ PoseWithStamp getCurrentObjectPose(
     getCurrentObjectPoseFromPredictedPaths(predicted_paths, obj_base_time, current_time);
 
   if (!interpolated_pose) {
-    RCLCPP_WARN(
+    RCLCPP_DEBUG(
       rclcpp::get_logger("ObstacleCruisePlanner"), "Failed to find the interpolated obstacle pose");
     return PoseWithStamp{obj_base_time, pose};
   }

From 778c074ec39f52042dc42e2860e392da180ec893 Mon Sep 17 00:00:00 2001
From: Mamoru Sobue <hilo.soblin@gmail.com>
Date: Wed, 11 Dec 2024 19:55:17 +0900
Subject: [PATCH 19/36] chore(planning_test_manager): update owner (#9620)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
---
 planning/autoware_planning_test_manager/package.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/planning/autoware_planning_test_manager/package.xml b/planning/autoware_planning_test_manager/package.xml
index ec22d871013d3..1b38944f545bc 100644
--- a/planning/autoware_planning_test_manager/package.xml
+++ b/planning/autoware_planning_test_manager/package.xml
@@ -6,6 +6,7 @@
   <description>ROS 2 node for testing interface of the nodes in planning module</description>
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
+  <maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
   <license>Apache License 2.0</license>
 
   <author email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</author>

From 53aaf0f2764daf6831f64bc7d136c425502aafe4 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Wed, 11 Dec 2024 23:43:06 +0900
Subject: [PATCH 20/36] feat(duplicated_node_checker): show the node name on
 the terminal (#9609)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 .../src/duplicated_node_checker_core.cpp                        | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp b/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp
index 1bc14bf927835..40ced8f886005 100644
--- a/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp
+++ b/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp
@@ -67,6 +67,8 @@ void DuplicatedNodeChecker::produceDiagnostics(diagnostic_updater::DiagnosticSta
     }
     for (auto name : identical_names) {
       stat.add("Duplicated Node Name", name);
+      RCLCPP_WARN_THROTTLE(
+        get_logger(), *get_clock(), 5000, "%s node is duplicated.", name.c_str());
     }
   } else {
     msg = "OK";

From 3cfb03e561abc163439486b332925bd2c42935a4 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Wed, 11 Dec 2024 23:44:45 +0900
Subject: [PATCH 21/36] fix(static_centerline_generator): several bug fixes
 (#9426)

* fix: dependent packages

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* feat: use steer angle, use warn for steer angle failure, calc curvature dicontinuously

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix cppcheck

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 .../vehicle_info.hpp                          |  1 +
 .../src/vehicle_info.cpp                      | 11 +++++
 .../static_centerline_generator.launch.xml    |  2 +-
 .../package.xml                               |  2 +
 .../src/static_centerline_generator_node.cpp  | 47 +++++++++++--------
 5 files changed, 42 insertions(+), 21 deletions(-)

diff --git a/common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp b/common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp
index 0e783cd006986..51c63418acc29 100644
--- a/common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp
+++ b/common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp
@@ -71,6 +71,7 @@ struct VehicleInfo
 
   double calcMaxCurvature() const;
   double calcCurvatureFromSteerAngle(const double steer_angle) const;
+  double calcSteerAngleFromCurvature(const double curvature) const;
 };
 
 /// Create vehicle info from base parameters
diff --git a/common/autoware_vehicle_info_utils/src/vehicle_info.cpp b/common/autoware_vehicle_info_utils/src/vehicle_info.cpp
index c0a4c240ba44a..c75a4351fb3f3 100644
--- a/common/autoware_vehicle_info_utils/src/vehicle_info.cpp
+++ b/common/autoware_vehicle_info_utils/src/vehicle_info.cpp
@@ -129,4 +129,15 @@ double VehicleInfo::calcCurvatureFromSteerAngle(const double steer_angle) const
   const double curvature = 1.0 / radius;
   return curvature;
 }
+
+double VehicleInfo::calcSteerAngleFromCurvature(const double curvature) const
+{
+  if (std::abs(curvature) < 1e-6) {
+    return 0.0;
+  }
+
+  const double radius = 1.0 / curvature;
+  const double steer_angle = std::atan2(wheel_base_m, radius);
+  return steer_angle;
+}
 }  // namespace autoware::vehicle_info_utils
diff --git a/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml b/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml
index 9ccc5a183be45..0590009ab378c 100644
--- a/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml
+++ b/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml
@@ -48,7 +48,7 @@
   </node>
 
   <!-- visualize map -->
-  <node pkg="map_loader" exec="lanelet2_map_visualization" name="lanelet2_map_visualization">
+  <node pkg="autoware_lanelet2_map_visualizer" exec="lanelet2_map_visualization" name="lanelet2_map_visualization">
     <remap from="input/lanelet2_map" to="$(var lanelet2_map_topic)"/>
     <remap from="output/lanelet2_map_marker" to="$(var lanelet2_map_marker_topic)"/>
   </node>
diff --git a/planning/autoware_static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml
index a6d97d6fae2f7..6ba1494e714cd 100644
--- a/planning/autoware_static_centerline_generator/package.xml
+++ b/planning/autoware_static_centerline_generator/package.xml
@@ -20,9 +20,11 @@
   <depend>autoware_global_parameter_loader</depend>
   <depend>autoware_interpolation</depend>
   <depend>autoware_lanelet2_extension</depend>
+  <depend>autoware_lanelet2_map_visualizer</depend>
   <depend>autoware_map_loader</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_map_projection_loader</depend>
+  <depend>autoware_map_tf_generator</depend>
   <depend>autoware_mission_planner</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_osqp_interface</depend>
diff --git a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp
index 7f0264d02434e..f172e3e0cb1cd 100644
--- a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp
+++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp
@@ -14,13 +14,14 @@
 
 #include "static_centerline_generator_node.hpp"
 
-#include "autoware/interpolation/spline_interpolation_points_2d.hpp"
 #include "autoware/map_loader/lanelet2_map_loader_node.hpp"
 #include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp"
 #include "autoware/map_projection_loader/map_projection_loader.hpp"
 #include "autoware/motion_utils/resample/resample.hpp"
 #include "autoware/motion_utils/trajectory/conversion.hpp"
+#include "autoware/motion_utils/trajectory/trajectory.hpp"
 #include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/math/unit_conversion.hpp"
 #include "autoware/universe_utils/ros/parameter.hpp"
 #include "autoware_lanelet2_extension/utility/message_conversion.hpp"
 #include "autoware_lanelet2_extension/utility/query.hpp"
@@ -59,6 +60,7 @@
 
 #define RESET_TEXT "\x1B[0m"
 #define RED_TEXT "\x1B[31m"
+#define YELLOW_TEXT "\x1b[33m"
 #define BOLD_TEXT "\x1B[1m"
 
 namespace autoware::static_centerline_generator
@@ -626,10 +628,8 @@ void StaticCenterlineGeneratorNode::validate()
   }
 
   // calculate curvature
-  autoware::interpolation::SplineInterpolationPoints2d centerline_spline(centerline);
-  const auto curvature_vec = centerline_spline.getSplineInterpolatedCurvatures();
-  const double curvature_threshold = vehicle_info_.calcCurvatureFromSteerAngle(
-    vehicle_info_.max_steer_angle_rad - max_steer_angle_margin);
+  const auto curvature_vec = autoware::motion_utils::calcCurvature(centerline);
+  const double steer_angle_threshold = vehicle_info_.max_steer_angle_rad - max_steer_angle_margin;
 
   // calculate the distance between footprint and right/left bounds
   MarkerArray marker_array;
@@ -676,6 +676,7 @@ void StaticCenterlineGeneratorNode::validate()
       max_curvature = std::abs(curvature);
     }
   }
+  const double max_steer_angle = vehicle_info_.calcSteerAngleFromCurvature(max_curvature);
 
   // publish road boundaries
   const auto left_bound = convertToGeometryPoints(lanelet_left_bound);
@@ -693,30 +694,36 @@ void StaticCenterlineGeneratorNode::validate()
     std::cerr << "1. Footprints inside Lanelets:" << std::endl;
     if (dist_thresh_to_road_border < min_dist) {
       std::cerr << "  The generated centerline is inside the lanelet. (threshold:"
-                << dist_thresh_to_road_border << " < actual:" << min_dist << ")" << std::endl
+                << dist_thresh_to_road_border << "[m] < actual:" << min_dist << "[m])" << std::endl
                 << "  Passed." << std::endl;
       return true;
     }
     std::cerr << RED_TEXT
               << " The generated centerline is outside the lanelet. (actual:" << min_dist
-              << " <= threshold:" << dist_thresh_to_road_border << ")" << std::endl
+              << "[m] <= threshold:" << dist_thresh_to_road_border << "[m])" << std::endl
               << "  Failed." << RESET_TEXT << std::endl;
     return false;
   }();
   // 2. centerline's curvature
-  const bool is_curvature_low = [&]() {
-    std::cerr << "2. Curvature:" << std::endl;
-    if (max_curvature < curvature_threshold) {
-      std::cerr << "  The generated centerline has no high curvature. (actual:" << max_curvature
-                << " < threshold:" << curvature_threshold << ")"
-                << "  Passed." << std::endl;
-      return true;
-    }
-    std::cerr << RED_TEXT << "  The generated centerline has a too high curvature. (threshold:"
-              << curvature_threshold << " <= actual:" << max_curvature << ")"
-              << "  Failed." << RESET_TEXT << std::endl;
-    return false;
-  }();
+  std::cerr << "2. Curvature:" << std::endl;
+  const bool is_curvature_low =
+    true;  // always tre for now since the curvature is just estimated and not enough precise.
+  if (max_steer_angle < steer_angle_threshold) {
+    std::cerr << "  The generated centerline has no high steer angle. (estimated:"
+              << autoware::universe_utils::rad2deg(max_steer_angle)
+              << "[deg] < threshold:" << autoware::universe_utils::rad2deg(steer_angle_threshold)
+              << "[deg])" << std::endl
+              << "  Passed." << std::endl;
+  } else {
+    std::cerr << YELLOW_TEXT << "  The generated centerline has a too high steer angle. (threshold:"
+              << autoware::universe_utils::rad2deg(steer_angle_threshold)
+              << "[deg] <= estimated:" << autoware::universe_utils::rad2deg(max_steer_angle)
+              << "[deg])" << std::endl
+              << "  However, the estimated steer angle is not enough precise, so the result is "
+                 "conditional pass."
+              << std::endl
+              << "  Conditionally Passed." << RESET_TEXT << std::endl;
+  }
   // 3. result
   std::cerr << std::endl << BOLD_TEXT << "Result:" << RESET_TEXT << std::endl;
   if (are_footprints_inside_lanelets && is_curvature_low) {

From e30350c358531a2c5dc2a132de9ad4f85fa370dc Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Thu, 12 Dec 2024 11:30:06 +0900
Subject: [PATCH 22/36] refactor(autoware_multi_object_tracker): merge
 normal_vehicle_tracker and big_vehicle_tracker (#9613)

* refactor: define object_model_ at initialization

* refactor: combine normal and big vehicle tracker
---
 .../CMakeLists.txt                            |   3 +-
 .../model/multiple_vehicle_tracker.hpp        |   7 +-
 .../tracker/model/normal_vehicle_tracker.hpp  |  78 ----
 ...ehicle_tracker.hpp => vehicle_tracker.hpp} |  18 +-
 .../multi_object_tracker/tracker/tracker.hpp  |   3 +-
 .../lib/tracker/model/big_vehicle_tracker.cpp | 362 ------------------
 .../model/multiple_vehicle_tracker.cpp        |   8 +-
 ...ehicle_tracker.cpp => vehicle_tracker.cpp} |  32 +-
 .../src/processor/processor.cpp               |   9 +-
 9 files changed, 41 insertions(+), 479 deletions(-)
 delete mode 100644 perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp
 rename perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/{big_vehicle_tracker.hpp => vehicle_tracker.hpp} (82%)
 delete mode 100644 perception/autoware_multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp
 rename perception/autoware_multi_object_tracker/lib/tracker/model/{normal_vehicle_tracker.cpp => vehicle_tracker.cpp} (92%)

diff --git a/perception/autoware_multi_object_tracker/CMakeLists.txt b/perception/autoware_multi_object_tracker/CMakeLists.txt
index 73edabaa09429..298b6605192a5 100644
--- a/perception/autoware_multi_object_tracker/CMakeLists.txt
+++ b/perception/autoware_multi_object_tracker/CMakeLists.txt
@@ -36,8 +36,7 @@ set(${PROJECT_NAME}_lib
   lib/tracker/motion_model/ctrv_motion_model.cpp
   lib/tracker/motion_model/cv_motion_model.cpp
   lib/tracker/model/tracker_base.cpp
-  lib/tracker/model/big_vehicle_tracker.cpp
-  lib/tracker/model/normal_vehicle_tracker.cpp
+  lib/tracker/model/vehicle_tracker.cpp
   lib/tracker/model/multiple_vehicle_tracker.cpp
   lib/tracker/model/bicycle_tracker.cpp
   lib/tracker/model/pedestrian_tracker.cpp
diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp
index 868aa1606d4ff..8b4fa1babf652 100644
--- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp
+++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp
@@ -20,9 +20,8 @@
 #define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_
 
 #include "autoware/kalman_filter/kalman_filter.hpp"
-#include "autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp"
-#include "autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp"
 #include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp"
+#include "autoware/multi_object_tracker/tracker/model/vehicle_tracker.hpp"
 
 #include <rclcpp/time.hpp>
 
@@ -32,8 +31,8 @@ namespace autoware::multi_object_tracker
 class MultipleVehicleTracker : public Tracker
 {
 private:
-  NormalVehicleTracker normal_vehicle_tracker_;
-  BigVehicleTracker big_vehicle_tracker_;
+  VehicleTracker normal_vehicle_tracker_;
+  VehicleTracker big_vehicle_tracker_;
 
 public:
   MultipleVehicleTracker(
diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp
deleted file mode 100644
index 0bfc065c7cc68..0000000000000
--- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp
+++ /dev/null
@@ -1,78 +0,0 @@
-// 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.
-//
-//
-// Author: v1.0 Yukihiro Saito
-//
-
-#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_
-#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_
-
-#include "autoware/kalman_filter/kalman_filter.hpp"
-#include "autoware/multi_object_tracker/object_model/object_model.hpp"
-#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp"
-#include "autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp"
-
-namespace autoware::multi_object_tracker
-{
-
-class NormalVehicleTracker : public Tracker
-{
-private:
-  autoware_perception_msgs::msg::DetectedObject object_;
-  rclcpp::Logger logger_;
-
-  object_model::ObjectModel object_model_ = object_model::normal_vehicle;
-
-  double velocity_deviation_threshold_;
-
-  double z_;
-
-  struct BoundingBox
-  {
-    double length;
-    double width;
-    double height;
-  };
-  BoundingBox bounding_box_;
-  Eigen::Vector2d tracking_offset_;
-
-  BicycleMotionModel motion_model_;
-  using IDX = BicycleMotionModel::IDX;
-
-public:
-  NormalVehicleTracker(
-    const rclcpp::Time & time, const autoware_perception_msgs::msg::DetectedObject & object,
-    const geometry_msgs::msg::Transform & self_transform, const size_t channel_size,
-    const uint & channel_index);
-
-  bool predict(const rclcpp::Time & time) override;
-  bool measure(
-    const autoware_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time,
-    const geometry_msgs::msg::Transform & self_transform) override;
-  bool measureWithPose(const autoware_perception_msgs::msg::DetectedObject & object);
-  bool measureWithShape(const autoware_perception_msgs::msg::DetectedObject & object);
-  bool getTrackedObject(
-    const rclcpp::Time & time,
-    autoware_perception_msgs::msg::TrackedObject & object) const override;
-
-private:
-  autoware_perception_msgs::msg::DetectedObject getUpdatingObject(
-    const autoware_perception_msgs::msg::DetectedObject & object,
-    const geometry_msgs::msg::Transform & self_transform);
-};
-
-}  // namespace autoware::multi_object_tracker
-
-#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_
diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/vehicle_tracker.hpp
similarity index 82%
rename from perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp
rename to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/vehicle_tracker.hpp
index 489f656f750cb..f3708fd1ff905 100644
--- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp
+++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/vehicle_tracker.hpp
@@ -16,8 +16,8 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_
-#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_
+#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__VEHICLE_TRACKER_HPP_
+#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__VEHICLE_TRACKER_HPP_
 
 #include "autoware/kalman_filter/kalman_filter.hpp"
 #include "autoware/multi_object_tracker/object_model/object_model.hpp"
@@ -27,16 +27,15 @@
 namespace autoware::multi_object_tracker
 {
 
-class BigVehicleTracker : public Tracker
+class VehicleTracker : public Tracker
 {
 private:
-  autoware_perception_msgs::msg::DetectedObject object_;
+  object_model::ObjectModel object_model_;
   rclcpp::Logger logger_;
 
-  object_model::ObjectModel object_model_ = object_model::big_vehicle;
-
   double velocity_deviation_threshold_;
 
+  autoware_perception_msgs::msg::DetectedObject object_;
   double z_;
 
   struct BoundingBox
@@ -52,8 +51,9 @@ class BigVehicleTracker : public Tracker
   using IDX = BicycleMotionModel::IDX;
 
 public:
-  BigVehicleTracker(
-    const rclcpp::Time & time, const autoware_perception_msgs::msg::DetectedObject & object,
+  VehicleTracker(
+    const object_model::ObjectModel & object_model, const rclcpp::Time & time,
+    const autoware_perception_msgs::msg::DetectedObject & object,
     const geometry_msgs::msg::Transform & self_transform, const size_t channel_size,
     const uint & channel_index);
 
@@ -75,4 +75,4 @@ class BigVehicleTracker : public Tracker
 
 }  // namespace autoware::multi_object_tracker
 
-#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_
+#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__VEHICLE_TRACKER_HPP_
diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/tracker.hpp
index ea1e60d4c7e17..ecf727c36936c 100644
--- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/tracker.hpp
+++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/tracker.hpp
@@ -20,13 +20,12 @@
 #define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__TRACKER_HPP_
 
 #include "model/bicycle_tracker.hpp"
-#include "model/big_vehicle_tracker.hpp"
 #include "model/multiple_vehicle_tracker.hpp"
-#include "model/normal_vehicle_tracker.hpp"
 #include "model/pass_through_tracker.hpp"
 #include "model/pedestrian_and_bicycle_tracker.hpp"
 #include "model/pedestrian_tracker.hpp"
 #include "model/tracker_base.hpp"
 #include "model/unknown_tracker.hpp"
+#include "model/vehicle_tracker.hpp"
 
 #endif  // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__TRACKER_HPP_
diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp
deleted file mode 100644
index 349ffb1eec634..0000000000000
--- a/perception/autoware_multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp
+++ /dev/null
@@ -1,362 +0,0 @@
-// 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.
-//
-//
-// Author: v1.0 Yukihiro Saito
-//
-#define EIGEN_MPL2_ONLY
-
-#include "autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp"
-
-#include "autoware/multi_object_tracker/utils/utils.hpp"
-#include "autoware/object_recognition_utils/object_recognition_utils.hpp"
-#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
-#include "autoware/universe_utils/math/normalization.hpp"
-#include "autoware/universe_utils/math/unit_conversion.hpp"
-#include "autoware/universe_utils/ros/msg_covariance.hpp"
-
-#include <Eigen/Core>
-#include <Eigen/Geometry>
-
-#include <bits/stdc++.h>
-#include <tf2/LinearMath/Matrix3x3.h>
-#include <tf2/LinearMath/Quaternion.h>
-#include <tf2/utils.h>
-
-#ifdef ROS_DISTRO_GALACTIC
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#else
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#endif
-
-namespace autoware::multi_object_tracker
-{
-using Label = autoware_perception_msgs::msg::ObjectClassification;
-
-BigVehicleTracker::BigVehicleTracker(
-  const rclcpp::Time & time, const autoware_perception_msgs::msg::DetectedObject & object,
-  const geometry_msgs::msg::Transform & /*self_transform*/, const size_t channel_size,
-  const uint & channel_index)
-: Tracker(time, object.classification, channel_size),
-  logger_(rclcpp::get_logger("BigVehicleTracker")),
-  z_(object.kinematics.pose_with_covariance.pose.position.z),
-  tracking_offset_(Eigen::Vector2d::Zero())
-{
-  object_ = object;
-
-  // initialize existence probability
-  initializeExistenceProbabilities(channel_index, object.existence_probability);
-
-  // velocity deviation threshold
-  //   if the predicted velocity is close to the observed velocity,
-  //   the observed velocity is used as the measurement.
-  velocity_deviation_threshold_ = autoware::universe_utils::kmph2mps(10);  // [m/s]
-
-  // OBJECT SHAPE MODEL
-  if (object.shape.type == autoware_perception_msgs::msg::Shape::BOUNDING_BOX) {
-    bounding_box_ = {
-      object.shape.dimensions.x, object.shape.dimensions.y, object.shape.dimensions.z};
-  } else {
-    autoware_perception_msgs::msg::DetectedObject bbox_object;
-    if (!utils::convertConvexHullToBoundingBox(object, bbox_object)) {
-      RCLCPP_WARN(
-        logger_,
-        "BigVehicleTracker::BigVehicleTracker: Failed to convert convex hull to bounding box.");
-      bounding_box_ = {
-        object_model_.init_size.length, object_model_.init_size.width,
-        object_model_.init_size.height};  // default value
-    } else {
-      bounding_box_ = {
-        bbox_object.shape.dimensions.x, bbox_object.shape.dimensions.y,
-        bbox_object.shape.dimensions.z};
-    }
-  }
-  // set maximum and minimum size
-  bounding_box_.length = std::clamp(
-    bounding_box_.length, object_model_.size_limit.length_min, object_model_.size_limit.length_max);
-  bounding_box_.width = std::clamp(
-    bounding_box_.width, object_model_.size_limit.width_min, object_model_.size_limit.width_max);
-  bounding_box_.height = std::clamp(
-    bounding_box_.height, object_model_.size_limit.height_min, object_model_.size_limit.height_max);
-
-  // Set motion model parameters
-  {
-    const double q_stddev_acc_long = object_model_.process_noise.acc_long;
-    const double q_stddev_acc_lat = object_model_.process_noise.acc_lat;
-    const double q_stddev_yaw_rate_min = object_model_.process_noise.yaw_rate_min;
-    const double q_stddev_yaw_rate_max = object_model_.process_noise.yaw_rate_max;
-    const double q_stddev_slip_rate_min = object_model_.bicycle_state.slip_rate_stddev_min;
-    const double q_stddev_slip_rate_max = object_model_.bicycle_state.slip_rate_stddev_max;
-    const double q_max_slip_angle = object_model_.bicycle_state.slip_angle_max;
-    const double lf_ratio = object_model_.bicycle_state.wheel_pos_ratio_front;
-    const double lf_min = object_model_.bicycle_state.wheel_pos_front_min;
-    const double lr_ratio = object_model_.bicycle_state.wheel_pos_ratio_rear;
-    const double lr_min = object_model_.bicycle_state.wheel_pos_rear_min;
-    motion_model_.setMotionParams(
-      q_stddev_acc_long, q_stddev_acc_lat, q_stddev_yaw_rate_min, q_stddev_yaw_rate_max,
-      q_stddev_slip_rate_min, q_stddev_slip_rate_max, q_max_slip_angle, lf_ratio, lf_min, lr_ratio,
-      lr_min);
-  }
-
-  // Set motion limits
-  {
-    const double max_vel = object_model_.process_limit.vel_long_max;
-    const double max_slip = object_model_.bicycle_state.slip_angle_max;
-    motion_model_.setMotionLimits(max_vel, max_slip);  // maximum velocity and slip angle
-  }
-
-  // Set initial state
-  {
-    using autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
-    const double x = object.kinematics.pose_with_covariance.pose.position.x;
-    const double y = object.kinematics.pose_with_covariance.pose.position.y;
-    const double yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation);
-
-    auto pose_cov = object.kinematics.pose_with_covariance.covariance;
-    if (!object.kinematics.has_position_covariance) {
-      // initial state covariance
-      const auto & p0_cov_x = object_model_.initial_covariance.pos_x;
-      const auto & p0_cov_y = object_model_.initial_covariance.pos_y;
-      const auto & p0_cov_yaw = object_model_.initial_covariance.yaw;
-
-      const double cos_yaw = std::cos(yaw);
-      const double sin_yaw = std::sin(yaw);
-      const double sin_2yaw = std::sin(2.0 * yaw);
-      pose_cov[XYZRPY_COV_IDX::X_X] = p0_cov_x * cos_yaw * cos_yaw + p0_cov_y * sin_yaw * sin_yaw;
-      pose_cov[XYZRPY_COV_IDX::X_Y] = 0.5 * (p0_cov_x - p0_cov_y) * sin_2yaw;
-      pose_cov[XYZRPY_COV_IDX::Y_Y] = p0_cov_x * sin_yaw * sin_yaw + p0_cov_y * cos_yaw * cos_yaw;
-      pose_cov[XYZRPY_COV_IDX::Y_X] = pose_cov[XYZRPY_COV_IDX::X_Y];
-      pose_cov[XYZRPY_COV_IDX::YAW_YAW] = p0_cov_yaw;
-    }
-
-    double vel = 0.0;
-    double vel_cov = object_model_.initial_covariance.vel_long;
-    if (object.kinematics.has_twist) {
-      vel = object.kinematics.twist_with_covariance.twist.linear.x;
-    }
-    if (object.kinematics.has_twist_covariance) {
-      vel_cov = object.kinematics.twist_with_covariance.covariance[XYZRPY_COV_IDX::X_X];
-    }
-
-    const double slip = 0.0;
-    const double slip_cov = object_model_.bicycle_state.init_slip_angle_cov;
-    const double & length = bounding_box_.length;
-
-    // initialize motion model
-    motion_model_.initialize(time, x, y, yaw, pose_cov, vel, vel_cov, slip, slip_cov, length);
-  }
-}
-
-bool BigVehicleTracker::predict(const rclcpp::Time & time)
-{
-  return motion_model_.predictState(time);
-}
-
-autoware_perception_msgs::msg::DetectedObject BigVehicleTracker::getUpdatingObject(
-  const autoware_perception_msgs::msg::DetectedObject & object,
-  const geometry_msgs::msg::Transform & self_transform)
-{
-  autoware_perception_msgs::msg::DetectedObject updating_object = object;
-
-  // OBJECT SHAPE MODEL
-  // convert to bounding box if input is convex shape
-  autoware_perception_msgs::msg::DetectedObject bbox_object = object;
-  if (object.shape.type != autoware_perception_msgs::msg::Shape::BOUNDING_BOX) {
-    if (!utils::convertConvexHullToBoundingBox(object, bbox_object)) {
-      RCLCPP_WARN(
-        logger_,
-        "BigVehicleTracker::getUpdatingObject: Failed to convert convex hull to bounding box.");
-      bbox_object = object;
-    }
-  }
-
-  // current (predicted) state
-  const double tracked_x = motion_model_.getStateElement(IDX::X);
-  const double tracked_y = motion_model_.getStateElement(IDX::Y);
-  const double tracked_yaw = motion_model_.getStateElement(IDX::YAW);
-
-  // get offset measurement
-  const int nearest_corner_index = utils::getNearestCornerOrSurface(
-    tracked_x, tracked_y, tracked_yaw, bounding_box_.width, bounding_box_.length, self_transform);
-  utils::calcAnchorPointOffset(
-    bounding_box_.width, bounding_box_.length, nearest_corner_index, bbox_object, tracked_yaw,
-    updating_object, tracking_offset_);
-
-  return updating_object;
-}
-
-bool BigVehicleTracker::measureWithPose(
-  const autoware_perception_msgs::msg::DetectedObject & object)
-{
-  // current (predicted) state
-  const double tracked_vel = motion_model_.getStateElement(IDX::VEL);
-
-  // velocity capability is checked only when the object has velocity measurement
-  // and the predicted velocity is close to the observed velocity
-  bool is_velocity_available = false;
-  if (object.kinematics.has_twist) {
-    const double & observed_vel = object.kinematics.twist_with_covariance.twist.linear.x;
-    if (std::fabs(tracked_vel - observed_vel) < velocity_deviation_threshold_) {
-      // Velocity deviation is small
-      is_velocity_available = true;
-    }
-  }
-
-  // update
-  bool is_updated = false;
-  {
-    const double x = object.kinematics.pose_with_covariance.pose.position.x;
-    const double y = object.kinematics.pose_with_covariance.pose.position.y;
-    const double yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation);
-    const double vel = object.kinematics.twist_with_covariance.twist.linear.x;
-
-    if (is_velocity_available) {
-      is_updated = motion_model_.updateStatePoseHeadVel(
-        x, y, yaw, object.kinematics.pose_with_covariance.covariance, vel,
-        object.kinematics.twist_with_covariance.covariance);
-    } else {
-      is_updated = motion_model_.updateStatePoseHead(
-        x, y, yaw, object.kinematics.pose_with_covariance.covariance);
-    }
-    motion_model_.limitStates();
-  }
-
-  // position z
-  constexpr double gain = 0.1;
-  z_ = (1.0 - gain) * z_ + gain * object.kinematics.pose_with_covariance.pose.position.z;
-
-  return is_updated;
-}
-
-bool BigVehicleTracker::measureWithShape(
-  const autoware_perception_msgs::msg::DetectedObject & object)
-{
-  if (object.shape.type != autoware_perception_msgs::msg::Shape::BOUNDING_BOX) {
-    // do not update shape if the input is not a bounding box
-    return false;
-  }
-
-  // check object size abnormality
-  constexpr double size_max = 35.0;  // [m]
-  constexpr double size_min = 1.0;   // [m]
-  bool is_size_valid =
-    (object.shape.dimensions.x <= size_max && object.shape.dimensions.y <= size_max &&
-     object.shape.dimensions.x >= size_min && object.shape.dimensions.y >= size_min);
-  if (!is_size_valid) {
-    return false;
-  }
-
-  // update object size
-  constexpr double gain = 0.5;
-  constexpr double gain_inv = 1.0 - gain;
-  bounding_box_.length = gain_inv * bounding_box_.length + gain * object.shape.dimensions.x;
-  bounding_box_.width = gain_inv * bounding_box_.width + gain * object.shape.dimensions.y;
-  bounding_box_.height = gain_inv * bounding_box_.height + gain * object.shape.dimensions.z;
-
-  // set maximum and minimum size
-  bounding_box_.length = std::clamp(
-    bounding_box_.length, object_model_.size_limit.length_min, object_model_.size_limit.length_max);
-  bounding_box_.width = std::clamp(
-    bounding_box_.width, object_model_.size_limit.width_min, object_model_.size_limit.width_max);
-  bounding_box_.height = std::clamp(
-    bounding_box_.height, object_model_.size_limit.height_min, object_model_.size_limit.height_max);
-
-  // update motion model
-  motion_model_.updateExtendedState(bounding_box_.length);
-
-  // update offset into object position
-  {
-    // rotate back the offset vector from object coordinate to global coordinate
-    const double yaw = motion_model_.getStateElement(IDX::YAW);
-    const double offset_x_global =
-      tracking_offset_.x() * std::cos(yaw) - tracking_offset_.y() * std::sin(yaw);
-    const double offset_y_global =
-      tracking_offset_.x() * std::sin(yaw) + tracking_offset_.y() * std::cos(yaw);
-    motion_model_.adjustPosition(-gain * offset_x_global, -gain * offset_y_global);
-    // update offset (object coordinate)
-    tracking_offset_.x() = gain_inv * tracking_offset_.x();
-    tracking_offset_.y() = gain_inv * tracking_offset_.y();
-  }
-
-  return true;
-}
-
-bool BigVehicleTracker::measure(
-  const autoware_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time,
-  const geometry_msgs::msg::Transform & self_transform)
-{
-  // keep the latest input object
-  object_ = object;
-
-  // update classification
-  const auto & current_classification = getClassification();
-  if (
-    autoware::object_recognition_utils::getHighestProbLabel(object.classification) ==
-    Label::UNKNOWN) {
-    setClassification(current_classification);
-  }
-
-  // check time gap
-  const double dt = motion_model_.getDeltaTime(time);
-  if (0.01 /*10msec*/ < dt) {
-    RCLCPP_WARN(
-      logger_,
-      "BigVehicleTracker::measure There is a large gap between predicted time and measurement "
-      "time. (%f)",
-      dt);
-  }
-
-  // update object
-  const autoware_perception_msgs::msg::DetectedObject updating_object =
-    getUpdatingObject(object, self_transform);
-  measureWithPose(updating_object);
-  measureWithShape(updating_object);
-
-  return true;
-}
-
-bool BigVehicleTracker::getTrackedObject(
-  const rclcpp::Time & time, autoware_perception_msgs::msg::TrackedObject & object) const
-{
-  object = autoware::object_recognition_utils::toTrackedObject(object_);
-  object.object_id = getUUID();
-  object.classification = getClassification();
-
-  auto & pose_with_cov = object.kinematics.pose_with_covariance;
-  auto & twist_with_cov = object.kinematics.twist_with_covariance;
-
-  // predict from motion model
-  if (!motion_model_.getPredictedState(
-        time, pose_with_cov.pose, pose_with_cov.covariance, twist_with_cov.twist,
-        twist_with_cov.covariance)) {
-    RCLCPP_WARN(logger_, "BigVehicleTracker::getTrackedObject: Failed to get predicted state.");
-    return false;
-  }
-
-  // position
-  pose_with_cov.pose.position.z = z_;
-
-  // set shape
-  object.shape.dimensions.x = bounding_box_.length;
-  object.shape.dimensions.y = bounding_box_.width;
-  object.shape.dimensions.z = bounding_box_.height;
-  const auto origin_yaw = tf2::getYaw(object_.kinematics.pose_with_covariance.pose.orientation);
-  const auto ekf_pose_yaw = tf2::getYaw(pose_with_cov.pose.orientation);
-  object.shape.footprint =
-    autoware::universe_utils::rotatePolygon(object.shape.footprint, origin_yaw - ekf_pose_yaw);
-
-  return true;
-}
-
-}  // namespace autoware::multi_object_tracker
diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp
index 4751e3d1c894f..ff06544bd509c 100644
--- a/perception/autoware_multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp
+++ b/perception/autoware_multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp
@@ -18,6 +18,8 @@
 
 #include "autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp"
 
+#include "autoware/multi_object_tracker/object_model/object_model.hpp"
+
 namespace autoware::multi_object_tracker
 {
 
@@ -28,8 +30,10 @@ MultipleVehicleTracker::MultipleVehicleTracker(
   const geometry_msgs::msg::Transform & self_transform, const size_t channel_size,
   const uint & channel_index)
 : Tracker(time, object.classification, channel_size),
-  normal_vehicle_tracker_(time, object, self_transform, channel_size, channel_index),
-  big_vehicle_tracker_(time, object, self_transform, channel_size, channel_index)
+  normal_vehicle_tracker_(
+    object_model::normal_vehicle, time, object, self_transform, channel_size, channel_index),
+  big_vehicle_tracker_(
+    object_model::big_vehicle, time, object, self_transform, channel_size, channel_index)
 {
   // initialize existence probability
   initializeExistenceProbabilities(channel_index, object.existence_probability);
diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/vehicle_tracker.cpp
similarity index 92%
rename from perception/autoware_multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp
rename to perception/autoware_multi_object_tracker/lib/tracker/model/vehicle_tracker.cpp
index b4be5e42b0397..2d1f48a3ad5ee 100644
--- a/perception/autoware_multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp
+++ b/perception/autoware_multi_object_tracker/lib/tracker/model/vehicle_tracker.cpp
@@ -17,7 +17,7 @@
 //
 #define EIGEN_MPL2_ONLY
 
-#include "autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp"
+#include "autoware/multi_object_tracker/tracker/model/vehicle_tracker.hpp"
 
 #include "autoware/multi_object_tracker/utils/utils.hpp"
 #include "autoware/object_recognition_utils/object_recognition_utils.hpp"
@@ -45,12 +45,14 @@ namespace autoware::multi_object_tracker
 
 using Label = autoware_perception_msgs::msg::ObjectClassification;
 
-NormalVehicleTracker::NormalVehicleTracker(
-  const rclcpp::Time & time, const autoware_perception_msgs::msg::DetectedObject & object,
+VehicleTracker::VehicleTracker(
+  const object_model::ObjectModel & object_model, const rclcpp::Time & time,
+  const autoware_perception_msgs::msg::DetectedObject & object,
   const geometry_msgs::msg::Transform & /*self_transform*/, const size_t channel_size,
   const uint & channel_index)
 : Tracker(time, object.classification, channel_size),
-  logger_(rclcpp::get_logger("NormalVehicleTracker")),
+  object_model_(object_model),
+  logger_(rclcpp::get_logger("VehicleTracker")),
   z_(object.kinematics.pose_with_covariance.pose.position.z),
   tracking_offset_(Eigen::Vector2d::Zero())
 {
@@ -73,7 +75,7 @@ NormalVehicleTracker::NormalVehicleTracker(
     if (!utils::convertConvexHullToBoundingBox(object, bbox_object)) {
       RCLCPP_WARN(
         logger_,
-        "NormalVehicleTracker::NormalVehicleTracker: Failed to convert convex hull to bounding "
+        "VehicleTracker::VehicleTracker: Failed to convert convex hull to bounding "
         "box.");
       bounding_box_ = {
         object_model_.init_size.length, object_model_.init_size.width,
@@ -160,12 +162,12 @@ NormalVehicleTracker::NormalVehicleTracker(
   }
 }
 
-bool NormalVehicleTracker::predict(const rclcpp::Time & time)
+bool VehicleTracker::predict(const rclcpp::Time & time)
 {
   return motion_model_.predictState(time);
 }
 
-autoware_perception_msgs::msg::DetectedObject NormalVehicleTracker::getUpdatingObject(
+autoware_perception_msgs::msg::DetectedObject VehicleTracker::getUpdatingObject(
   const autoware_perception_msgs::msg::DetectedObject & object,
   const geometry_msgs::msg::Transform & self_transform)
 {
@@ -178,7 +180,7 @@ autoware_perception_msgs::msg::DetectedObject NormalVehicleTracker::getUpdatingO
     if (!utils::convertConvexHullToBoundingBox(object, bbox_object)) {
       RCLCPP_WARN(
         logger_,
-        "NormalVehicleTracker::getUpdatingObject: Failed to convert convex hull to bounding box.");
+        "VehicleTracker::getUpdatingObject: Failed to convert convex hull to bounding box.");
       bbox_object = object;
     }
   }
@@ -198,8 +200,7 @@ autoware_perception_msgs::msg::DetectedObject NormalVehicleTracker::getUpdatingO
   return updating_object;
 }
 
-bool NormalVehicleTracker::measureWithPose(
-  const autoware_perception_msgs::msg::DetectedObject & object)
+bool VehicleTracker::measureWithPose(const autoware_perception_msgs::msg::DetectedObject & object)
 {
   // current (predicted) state
   const double tracked_vel = motion_model_.getStateElement(IDX::VEL);
@@ -241,8 +242,7 @@ bool NormalVehicleTracker::measureWithPose(
   return is_updated;
 }
 
-bool NormalVehicleTracker::measureWithShape(
-  const autoware_perception_msgs::msg::DetectedObject & object)
+bool VehicleTracker::measureWithShape(const autoware_perception_msgs::msg::DetectedObject & object)
 {
   if (object.shape.type != autoware_perception_msgs::msg::Shape::BOUNDING_BOX) {
     // do not update shape if the input is not a bounding box
@@ -294,7 +294,7 @@ bool NormalVehicleTracker::measureWithShape(
   return true;
 }
 
-bool NormalVehicleTracker::measure(
+bool VehicleTracker::measure(
   const autoware_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time,
   const geometry_msgs::msg::Transform & self_transform)
 {
@@ -314,7 +314,7 @@ bool NormalVehicleTracker::measure(
   if (0.01 /*10msec*/ < dt) {
     RCLCPP_WARN(
       logger_,
-      "NormalVehicleTracker::measure There is a large gap between predicted time and measurement "
+      "VehicleTracker::measure There is a large gap between predicted time and measurement "
       "time. (%f)",
       dt);
   }
@@ -328,7 +328,7 @@ bool NormalVehicleTracker::measure(
   return true;
 }
 
-bool NormalVehicleTracker::getTrackedObject(
+bool VehicleTracker::getTrackedObject(
   const rclcpp::Time & time, autoware_perception_msgs::msg::TrackedObject & object) const
 {
   object = autoware::object_recognition_utils::toTrackedObject(object_);
@@ -342,7 +342,7 @@ bool NormalVehicleTracker::getTrackedObject(
   if (!motion_model_.getPredictedState(
         time, pose_with_cov.pose, pose_with_cov.covariance, twist_with_cov.twist,
         twist_with_cov.covariance)) {
-    RCLCPP_WARN(logger_, "NormalVehicleTracker::getTrackedObject: Failed to get predicted state.");
+    RCLCPP_WARN(logger_, "VehicleTracker::getTrackedObject: Failed to get predicted state.");
     return false;
   }
 
diff --git a/perception/autoware_multi_object_tracker/src/processor/processor.cpp b/perception/autoware_multi_object_tracker/src/processor/processor.cpp
index f4202c1f6e413..ebc11ea63e199 100644
--- a/perception/autoware_multi_object_tracker/src/processor/processor.cpp
+++ b/perception/autoware_multi_object_tracker/src/processor/processor.cpp
@@ -14,6 +14,7 @@
 
 #include "processor.hpp"
 
+#include "autoware/multi_object_tracker/object_model/object_model.hpp"
 #include "autoware/multi_object_tracker/tracker/tracker.hpp"
 #include "autoware/object_recognition_utils/object_recognition_utils.hpp"
 
@@ -102,14 +103,14 @@ std::shared_ptr<Tracker> TrackerProcessor::createNewTracker(
       return std::make_shared<BicycleTracker>(
         time, object, self_transform, channel_size_, channel_index);
     if (tracker == "big_vehicle_tracker")
-      return std::make_shared<BigVehicleTracker>(
-        time, object, self_transform, channel_size_, channel_index);
+      return std::make_shared<VehicleTracker>(
+        object_model::big_vehicle, time, object, self_transform, channel_size_, channel_index);
     if (tracker == "multi_vehicle_tracker")
       return std::make_shared<MultipleVehicleTracker>(
         time, object, self_transform, channel_size_, channel_index);
     if (tracker == "normal_vehicle_tracker")
-      return std::make_shared<NormalVehicleTracker>(
-        time, object, self_transform, channel_size_, channel_index);
+      return std::make_shared<VehicleTracker>(
+        object_model::normal_vehicle, time, object, self_transform, channel_size_, channel_index);
     if (tracker == "pass_through_tracker")
       return std::make_shared<PassThroughTracker>(
         time, object, self_transform, channel_size_, channel_index);

From d741026d8824c8240d2945eeb942e5dd9e6dc363 Mon Sep 17 00:00:00 2001
From: Fumiya Watanabe <rej55.g@gmail.com>
Date: Thu, 12 Dec 2024 12:30:04 +0900
Subject: [PATCH 23/36] chore(package.xml): bump version to 0.40.0 (#9618)

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
---
 common/autoware_adapi_specs/CHANGELOG.rst     |  30 ++
 common/autoware_adapi_specs/package.xml       |   2 +-
 common/autoware_auto_common/CHANGELOG.rst     |  26 +
 common/autoware_auto_common/package.xml       |   2 +-
 .../CHANGELOG.rst                             |  26 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  26 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  28 +
 .../package.xml                               |   2 +-
 common/autoware_fake_test_node/CHANGELOG.rst  |  15 +
 common/autoware_fake_test_node/package.xml    |   2 +-
 .../CHANGELOG.rst                             |  14 +
 .../package.xml                               |   2 +-
 common/autoware_glog_component/CHANGELOG.rst  |  15 +
 common/autoware_glog_component/package.xml    |   2 +-
 .../CHANGELOG.rst                             |  24 +
 .../package.xml                               |   2 +-
 common/autoware_grid_map_utils/CHANGELOG.rst  |  26 +
 common/autoware_grid_map_utils/package.xml    |   2 +-
 common/autoware_interpolation/CHANGELOG.rst   |  26 +
 common/autoware_interpolation/package.xml     |   2 +-
 common/autoware_kalman_filter/CHANGELOG.rst   |  26 +
 common/autoware_kalman_filter/package.xml     |   2 +-
 common/autoware_motion_utils/CHANGELOG.rst    |  69 +++
 common/autoware_motion_utils/package.xml      |   2 +-
 .../CHANGELOG.rst                             |  26 +
 .../package.xml                               |   2 +-
 common/autoware_osqp_interface/CHANGELOG.rst  |  27 +
 common/autoware_osqp_interface/package.xml    |   2 +-
 .../CHANGELOG.rst                             |  24 +
 .../package.xml                               |   2 +-
 common/autoware_point_types/CHANGELOG.rst     |  24 +
 common/autoware_point_types/package.xml       |   2 +-
 common/autoware_polar_grid/CHANGELOG.rst      |  24 +
 common/autoware_polar_grid/package.xml        |   2 +-
 common/autoware_pyplot/CHANGELOG.rst          |  39 ++
 common/autoware_pyplot/package.xml            |   3 +-
 common/autoware_qp_interface/CHANGELOG.rst    |  29 +
 common/autoware_qp_interface/package.xml      |   2 +-
 .../autoware_signal_processing/CHANGELOG.rst  |  26 +
 common/autoware_signal_processing/package.xml |   2 +-
 common/autoware_test_utils/CHANGELOG.rst      |  52 ++
 common/autoware_test_utils/package.xml        |   2 +-
 common/autoware_testing/CHANGELOG.rst         |  24 +
 common/autoware_testing/package.xml           |   2 +-
 common/autoware_time_utils/CHANGELOG.rst      |  32 ++
 common/autoware_time_utils/package.xml        |   2 +-
 .../CHANGELOG.rst                             |  17 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  16 +
 .../autoware_traffic_light_utils/package.xml  |   2 +-
 common/autoware_trajectory/CHANGELOG.rst      |  43 ++
 common/autoware_trajectory/package.xml        |   2 +-
 common/autoware_universe_utils/CHANGELOG.rst  |  42 ++
 common/autoware_universe_utils/package.xml    |   2 +-
 .../autoware_vehicle_info_utils/CHANGELOG.rst |  31 ++
 .../autoware_vehicle_info_utils/package.xml   |   2 +-
 common/tier4_api_utils/CHANGELOG.rst          |  24 +
 common/tier4_api_utils/package.xml            |   2 +-
 .../CHANGELOG.rst                             |  83 +++
 .../package.xml                               |   2 +-
 .../autoware_collision_detector/CHANGELOG.rst |  34 ++
 .../autoware_collision_detector/package.xml   |   2 +-
 .../autoware_control_validator/CHANGELOG.rst  |  30 ++
 .../autoware_control_validator/package.xml    |   2 +-
 .../CHANGELOG.rst                             |  24 +
 .../package.xml                               |   2 +-
 control/autoware_joy_controller/CHANGELOG.rst |  24 +
 control/autoware_joy_controller/package.xml   |   2 +-
 .../CHANGELOG.rst                             |  44 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  50 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  26 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  28 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  39 ++
 .../package.xml                               |   2 +-
 control/autoware_pure_pursuit/CHANGELOG.rst   |  29 +
 control/autoware_pure_pursuit/package.xml     |   2 +-
 control/autoware_shift_decider/CHANGELOG.rst  |  24 +
 control/autoware_shift_decider/package.xml    |   2 +-
 .../CHANGELOG.rst                             |  27 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  34 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  45 ++
 .../package.xml                               |   2 +-
 .../autoware_vehicle_cmd_gate/CHANGELOG.rst   |  31 ++
 control/autoware_vehicle_cmd_gate/package.xml |   2 +-
 .../CHANGELOG.rst                             |  29 +
 .../control_performance_analysis/package.xml  |   2 +-
 control/predicted_path_checker/CHANGELOG.rst  |  28 +
 control/predicted_path_checker/package.xml    |   2 +-
 .../autoware_control_evaluator/CHANGELOG.rst  |  68 +++
 .../autoware_control_evaluator/package.xml    |   2 +-
 .../autoware_planning_evaluator/CHANGELOG.rst |  71 +++
 .../autoware_planning_evaluator/package.xml   |   2 +-
 evaluator/kinematic_evaluator/CHANGELOG.rst   |  37 ++
 evaluator/kinematic_evaluator/package.xml     |   2 +-
 .../localization_evaluator/CHANGELOG.rst      |  38 ++
 evaluator/localization_evaluator/package.xml  |   2 +-
 .../perception_online_evaluator/CHANGELOG.rst |  38 ++
 .../perception_online_evaluator/package.xml   |   2 +-
 .../CHANGELOG.rst                             | 498 ++++++++++++++++++
 .../scenario_simulator_v2_adapter/package.xml |   2 +-
 .../tier4_autoware_api_launch/CHANGELOG.rst   |  24 +
 launch/tier4_autoware_api_launch/package.xml  |   2 +-
 launch/tier4_control_launch/CHANGELOG.rst     |  71 +++
 launch/tier4_control_launch/package.xml       |   2 +-
 .../tier4_localization_launch/CHANGELOG.rst   |  24 +
 launch/tier4_localization_launch/package.xml  |   2 +-
 launch/tier4_map_launch/CHANGELOG.rst         |  44 ++
 launch/tier4_map_launch/package.xml           |   2 +-
 launch/tier4_perception_launch/CHANGELOG.rst  |  24 +
 launch/tier4_perception_launch/package.xml    |   2 +-
 launch/tier4_planning_launch/CHANGELOG.rst    |  36 ++
 launch/tier4_planning_launch/package.xml      |   2 +-
 launch/tier4_sensing_launch/CHANGELOG.rst     |  24 +
 launch/tier4_sensing_launch/package.xml       |   2 +-
 launch/tier4_simulator_launch/CHANGELOG.rst   |  54 ++
 launch/tier4_simulator_launch/package.xml     |   2 +-
 launch/tier4_system_launch/CHANGELOG.rst      |  24 +
 launch/tier4_system_launch/package.xml        |   2 +-
 launch/tier4_vehicle_launch/CHANGELOG.rst     |  24 +
 launch/tier4_vehicle_launch/package.xml       |   2 +-
 .../autoware_ekf_localizer/CHANGELOG.rst      |  31 ++
 .../autoware_ekf_localizer/package.xml        |   2 +-
 .../autoware_geo_pose_projector/CHANGELOG.rst |  29 +
 .../autoware_geo_pose_projector/package.xml   |   2 +-
 .../autoware_gyro_odometer/CHANGELOG.rst      |  24 +
 .../autoware_gyro_odometer/package.xml        |   2 +-
 .../CHANGELOG.rst                             |  26 +
 .../package.xml                               |   2 +-
 .../autoware_landmark_manager/CHANGELOG.rst   |  26 +
 .../autoware_landmark_manager/package.xml     |   2 +-
 .../CHANGELOG.rst                             |  26 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  24 +
 .../package.xml                               |   2 +-
 .../autoware_localization_util/CHANGELOG.rst  |  26 +
 .../autoware_localization_util/package.xml    |   2 +-
 .../autoware_ndt_scan_matcher/CHANGELOG.rst   |  65 +++
 .../autoware_ndt_scan_matcher/package.xml     |   2 +-
 .../autoware_pose2twist/CHANGELOG.rst         |  24 +
 localization/autoware_pose2twist/package.xml  |   2 +-
 .../CHANGELOG.rst                             |  26 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  27 +
 .../package.xml                               |   2 +-
 .../autoware_pose_initializer/CHANGELOG.rst   |  28 +
 .../autoware_pose_initializer/package.xml     |   2 +-
 .../CHANGELOG.rst                             |  26 +
 .../package.xml                               |   2 +-
 .../autoware_stop_filter/CHANGELOG.rst        |  24 +
 localization/autoware_stop_filter/package.xml |   2 +-
 .../autoware_twist2accel/CHANGELOG.rst        |  24 +
 localization/autoware_twist2accel/package.xml |   2 +-
 .../yabloc/yabloc_common/CHANGELOG.rst        |  26 +
 localization/yabloc/yabloc_common/package.xml |   2 +-
 .../yabloc_image_processing/CHANGELOG.rst     |  26 +
 .../yabloc_image_processing/package.xml       |   2 +-
 .../yabloc/yabloc_monitor/CHANGELOG.rst       |  24 +
 .../yabloc/yabloc_monitor/package.xml         |   2 +-
 .../yabloc_particle_filter/CHANGELOG.rst      |  26 +
 .../yabloc/yabloc_particle_filter/package.xml |   2 +-
 .../yabloc_pose_initializer/CHANGELOG.rst     |  27 +
 .../yabloc_pose_initializer/package.xml       |   2 +-
 .../CHANGELOG.rst                             | 465 ++++++++++++++++
 .../package.xml                               |   2 +-
 map/autoware_map_height_fitter/CHANGELOG.rst  |  26 +
 map/autoware_map_height_fitter/package.xml    |   2 +-
 map/autoware_map_loader/CHANGELOG.rst         |  39 ++
 map/autoware_map_loader/package.xml           |   2 +-
 .../CHANGELOG.rst                             |  49 ++
 .../package.xml                               |   2 +-
 map/autoware_map_tf_generator/CHANGELOG.rst   |  26 +
 map/autoware_map_tf_generator/package.xml     |   2 +-
 perception/autoware_bytetrack/CHANGELOG.rst   |  34 ++
 perception/autoware_bytetrack/package.xml     |   2 +-
 .../autoware_cluster_merger/CHANGELOG.rst     |  26 +
 .../autoware_cluster_merger/package.xml       |   2 +-
 .../CHANGELOG.rst                             |  31 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  31 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  26 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  49 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  24 +
 .../autoware_detection_by_tracker/package.xml |   2 +-
 .../CHANGELOG.rst                             |  26 +
 .../autoware_elevation_map_loader/package.xml |   2 +-
 .../autoware_euclidean_cluster/CHANGELOG.rst  |  29 +
 .../autoware_euclidean_cluster/package.xml    |   2 +-
 .../CHANGELOG.rst                             | 117 ++++
 .../autoware_ground_segmentation/package.xml  |   2 +-
 .../CHANGELOG.rst                             |  72 +++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  29 +
 .../package.xml                               |   2 +-
 .../autoware_lidar_centerpoint/CHANGELOG.rst  |  46 ++
 .../autoware_lidar_centerpoint/package.xml    |   2 +-
 .../autoware_lidar_transfusion/CHANGELOG.rst  |  33 ++
 .../autoware_lidar_transfusion/package.xml    |   2 +-
 .../CHANGELOG.rst                             |  45 ++
 .../autoware_map_based_prediction/package.xml |   2 +-
 .../CHANGELOG.rst                             |  51 ++
 .../autoware_multi_object_tracker/package.xml |   2 +-
 .../autoware_object_merger/CHANGELOG.rst      |  26 +
 perception/autoware_object_merger/package.xml |   2 +-
 .../CHANGELOG.rst                             |  24 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  24 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  29 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  27 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  27 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  24 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  26 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  26 +
 .../autoware_radar_object_tracker/package.xml |   2 +-
 .../CHANGELOG.rst                             |  24 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  27 +
 .../package.xml                               |   2 +-
 .../autoware_shape_estimation/CHANGELOG.rst   |  29 +
 .../autoware_shape_estimation/package.xml     |   2 +-
 .../CHANGELOG.rst                             |  24 +
 .../autoware_simple_object_merger/package.xml |   2 +-
 .../CHANGELOG.rst                             |  29 +
 .../autoware_tensorrt_classifier/package.xml  |   2 +-
 .../autoware_tensorrt_common/CHANGELOG.rst    |  27 +
 .../autoware_tensorrt_common/package.xml      |   2 +-
 .../autoware_tensorrt_yolox/CHANGELOG.rst     |  30 ++
 .../autoware_tensorrt_yolox/package.xml       |   2 +-
 .../CHANGELOG.rst                             |  29 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  31 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  33 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  31 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  31 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  35 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  32 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  34 ++
 .../package.xml                               |   2 +-
 perception/perception_utils/CHANGELOG.rst     |  27 +
 perception/perception_utils/package.xml       |   2 +-
 .../autoware_costmap_generator/CHANGELOG.rst  |  51 ++
 .../autoware_costmap_generator/package.xml    |   2 +-
 .../CHANGELOG.rst                             |  31 ++
 .../package.xml                               |   2 +-
 .../autoware_freespace_planner/CHANGELOG.rst  |  41 ++
 .../autoware_freespace_planner/package.xml    |   2 +-
 .../CHANGELOG.rst                             |  48 ++
 .../package.xml                               |   2 +-
 .../autoware_mission_planner/CHANGELOG.rst    |  43 ++
 planning/autoware_mission_planner/package.xml |   2 +-
 .../CHANGELOG.rst                             |  26 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  64 +++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  28 +
 .../package.xml                               |   2 +-
 .../autoware_path_optimizer/CHANGELOG.rst     |  31 ++
 planning/autoware_path_optimizer/package.xml  |   2 +-
 planning/autoware_path_smoother/CHANGELOG.rst |  28 +
 planning/autoware_path_smoother/package.xml   |   2 +-
 .../CHANGELOG.rst                             |  31 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  26 +
 .../package.xml                               |   2 +-
 .../autoware_planning_validator/CHANGELOG.rst |  26 +
 .../autoware_planning_validator/package.xml   |   2 +-
 .../CHANGELOG.rst                             |  24 +
 .../package.xml                               |   2 +-
 planning/autoware_route_handler/CHANGELOG.rst |  28 +
 planning/autoware_route_handler/package.xml   |   2 +-
 planning/autoware_rtc_interface/CHANGELOG.rst |  38 ++
 planning/autoware_rtc_interface/package.xml   |   2 +-
 .../autoware_scenario_selector/CHANGELOG.rst  |  31 ++
 .../autoware_scenario_selector/package.xml    |   2 +-
 .../CHANGELOG.rst                             |  55 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  37 ++
 .../package.xml                               |   2 +-
 .../autoware_velocity_smoother/CHANGELOG.rst  |  34 ++
 .../autoware_velocity_smoother/package.xml    |   2 +-
 .../CHANGELOG.rst                             |  37 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  37 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  37 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  82 +++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             | 286 ++++++++++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  44 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             | 137 +++++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  43 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  41 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  64 +++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  76 +++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  32 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  31 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  38 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  40 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  27 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  38 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  27 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  51 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  60 +++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  50 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  27 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  50 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  26 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  46 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  27 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  29 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  26 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  26 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  28 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  26 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  50 ++
 .../package.xml                               |   2 +-
 .../autoware_bezier_sampler/CHANGELOG.rst     |  26 +
 .../autoware_bezier_sampler/package.xml       |   2 +-
 .../autoware_frenet_planner/CHANGELOG.rst     |  26 +
 .../autoware_frenet_planner/package.xml       |   2 +-
 .../autoware_path_sampler/CHANGELOG.rst       |  27 +
 .../autoware_path_sampler/package.xml         |   2 +-
 .../autoware_sampler_common/CHANGELOG.rst     |  27 +
 .../autoware_sampler_common/package.xml       |   2 +-
 sensing/autoware_cuda_utils/CHANGELOG.rst     |  34 +-
 sensing/autoware_cuda_utils/package.xml       |   2 +-
 sensing/autoware_gnss_poser/CHANGELOG.rst     |  28 +
 sensing/autoware_gnss_poser/package.xml       |   2 +-
 .../autoware_image_diagnostics/CHANGELOG.rst  |  26 +
 .../autoware_image_diagnostics/package.xml    |   2 +-
 .../CHANGELOG.rst                             |  24 +
 .../package.xml                               |   2 +-
 sensing/autoware_imu_corrector/CHANGELOG.rst  |  26 +
 sensing/autoware_imu_corrector/package.xml    |   2 +-
 sensing/autoware_pcl_extensions/CHANGELOG.rst |  24 +
 sensing/autoware_pcl_extensions/package.xml   |   2 +-
 .../CHANGELOG.rst                             |  44 ++
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  24 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  24 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  24 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  26 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  18 +
 .../package.xml                               |   2 +-
 .../autoware_livox_tag_filter/CHANGELOG.rst   |  24 +
 .../autoware_livox_tag_filter/package.xml     |   2 +-
 .../autoware_carla_interface/CHANGELOG.rst    |  28 +
 .../autoware_carla_interface/package.xml      |   2 +-
 simulator/autoware_carla_interface/setup.py   |   2 +-
 .../dummy_perception_publisher/CHANGELOG.rst  |  27 +
 .../dummy_perception_publisher/package.xml    |   2 +-
 simulator/fault_injection/CHANGELOG.rst       |  26 +
 simulator/fault_injection/package.xml         |   2 +-
 .../CHANGELOG.rst                             |  27 +
 .../learning_based_vehicle_model/package.xml  |   2 +-
 .../simple_planning_simulator/CHANGELOG.rst   |  33 ++
 .../simple_planning_simulator/package.xml     |   2 +-
 .../CHANGELOG.rst                             |  28 +
 .../package.xml                               |   2 +-
 .../vehicle_door_simulator/CHANGELOG.rst      |  24 +
 simulator/vehicle_door_simulator/package.xml  |   2 +-
 .../autoware_component_monitor/CHANGELOG.rst  |  26 +
 system/autoware_component_monitor/package.xml |   2 +-
 system/autoware_default_adapi/CHANGELOG.rst   |  48 ++
 system/autoware_default_adapi/package.xml     |   2 +-
 .../CHANGELOG.rst                             |  56 ++
 .../package.xml                               |   2 +-
 system/bluetooth_monitor/CHANGELOG.rst        |  26 +
 system/bluetooth_monitor/package.xml          |   2 +-
 system/component_state_monitor/CHANGELOG.rst  |  26 +
 system/component_state_monitor/package.xml    |   2 +-
 .../ad_api_adaptors/CHANGELOG.rst             |  36 ++
 .../ad_api_adaptors/package.xml               |   2 +-
 .../ad_api_visualizers/CHANGELOG.rst          |  24 +
 .../ad_api_visualizers/package.xml            |   2 +-
 .../ad_api_visualizers/setup.py               |   2 +-
 .../automatic_pose_initializer/CHANGELOG.rst  |  36 ++
 .../automatic_pose_initializer/package.xml    |   2 +-
 .../diagnostic_graph_aggregator/CHANGELOG.rst |  28 +
 .../diagnostic_graph_aggregator/package.xml   |   2 +-
 system/diagnostic_graph_utils/CHANGELOG.rst   |  39 ++
 system/diagnostic_graph_utils/package.xml     |   2 +-
 system/dummy_diag_publisher/CHANGELOG.rst     |  36 ++
 system/dummy_diag_publisher/package.xml       |   2 +-
 system/dummy_infrastructure/CHANGELOG.rst     |  24 +
 system/dummy_infrastructure/package.xml       |   2 +-
 system/duplicated_node_checker/CHANGELOG.rst  |  27 +
 system/duplicated_node_checker/package.xml    |   2 +-
 system/hazard_status_converter/CHANGELOG.rst  |  35 ++
 system/hazard_status_converter/package.xml    |   2 +-
 .../CHANGELOG.rst                             |  30 ++
 .../mrm_comfortable_stop_operator/package.xml |   2 +-
 .../mrm_emergency_stop_operator/CHANGELOG.rst |  26 +
 .../mrm_emergency_stop_operator/package.xml   |   2 +-
 system/mrm_handler/CHANGELOG.rst              |  31 ++
 system/mrm_handler/package.xml                |   2 +-
 .../system_diagnostic_monitor/CHANGELOG.rst   |  24 +
 system/system_diagnostic_monitor/package.xml  |   2 +-
 system/system_monitor/CHANGELOG.rst           |  37 ++
 system/system_monitor/package.xml             |   2 +-
 system/topic_state_monitor/CHANGELOG.rst      |  24 +
 system/topic_state_monitor/package.xml        |   2 +-
 system/velodyne_monitor/CHANGELOG.rst         |  24 +
 system/velodyne_monitor/package.xml           |   2 +-
 tools/reaction_analyzer/CHANGELOG.rst         |  26 +
 tools/reaction_analyzer/package.xml           |   2 +-
 .../CHANGELOG.rst                             |  28 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  26 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  26 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |  26 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |   8 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |   8 +
 .../autoware_overlay_rviz_plugin/package.xml  |   2 +-
 .../CHANGELOG.rst                             |   8 +
 .../package.xml                               |   2 +-
 .../CHANGELOG.rst                             |   8 +
 .../bag_time_manager_rviz_plugin/package.xml  |   2 +-
 .../tier4_adapi_rviz_plugin/CHANGELOG.rst     |   8 +
 .../tier4_adapi_rviz_plugin/package.xml       |   2 +-
 .../CHANGELOG.rst                             |   8 +
 .../tier4_camera_view_rviz_plugin/package.xml |   2 +-
 .../tier4_datetime_rviz_plugin/CHANGELOG.rst  |   8 +
 .../tier4_datetime_rviz_plugin/package.xml    |   2 +-
 .../CHANGELOG.rst                             |   8 +
 .../package.xml                               |   2 +-
 .../tier4_planning_rviz_plugin/CHANGELOG.rst  |   8 +
 .../tier4_planning_rviz_plugin/package.xml    |   2 +-
 .../tier4_state_rviz_plugin/CHANGELOG.rst     |   8 +
 .../tier4_state_rviz_plugin/package.xml       |   2 +-
 .../tier4_system_rviz_plugin/CHANGELOG.rst    |   8 +
 .../tier4_system_rviz_plugin/package.xml      |   2 +-
 .../CHANGELOG.rst                             |   8 +
 .../package.xml                               |   2 +-
 .../tier4_vehicle_rviz_plugin/CHANGELOG.rst   |   8 +
 .../tier4_vehicle_rviz_plugin/package.xml     |   2 +-
 494 files changed, 9294 insertions(+), 251 deletions(-)
 create mode 100644 common/autoware_pyplot/CHANGELOG.rst
 create mode 100644 evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst
 create mode 100644 map/autoware_lanelet2_map_visualizer/CHANGELOG.rst

diff --git a/common/autoware_adapi_specs/CHANGELOG.rst b/common/autoware_adapi_specs/CHANGELOG.rst
index 79e62f7738922..7693074353d9f 100644
--- a/common/autoware_adapi_specs/CHANGELOG.rst
+++ b/common/autoware_adapi_specs/CHANGELOG.rst
@@ -2,6 +2,36 @@
 Changelog for package autoware_adapi_specs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix: fix package names in changelog files (`#9500 <https://github.com/autowarefoundation/autoware.universe/issues/9500>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 <https://github.com/autowarefoundation/autoware.universe/issues/9250>`_)
+  * refactor(autoware_ad_api_specs): prefix package and namespace with autoware
+  * style(pre-commit): autofix
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * style(pre-commit): autofix
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/common/autoware_adapi_specs/package.xml b/common/autoware_adapi_specs/package.xml
index 754edf9ddfbe7..5424d5bad52d5 100644
--- a/common/autoware_adapi_specs/package.xml
+++ b/common/autoware_adapi_specs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_adapi_specs</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_adapi_specs package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
diff --git a/common/autoware_auto_common/CHANGELOG.rst b/common/autoware_auto_common/CHANGELOG.rst
index 93b2dba7939a2..63f0fe2ac83e3 100644
--- a/common/autoware_auto_common/CHANGELOG.rst
+++ b/common/autoware_auto_common/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_auto_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(qp_interface): prefix package and namespace with autoware (`#9236 <https://github.com/autowarefoundation/autoware.universe/issues/9236>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/common/autoware_auto_common/package.xml b/common/autoware_auto_common/package.xml
index 9d12bda8c75c3..ccdcd4bab8608 100644
--- a/common/autoware_auto_common/package.xml
+++ b/common/autoware_auto_common/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_auto_common</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Miscellaneous helper functions</description>
   <maintainer email="opensource@apex.ai">Apex.AI, Inc.</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/common/autoware_component_interface_specs/CHANGELOG.rst b/common/autoware_component_interface_specs/CHANGELOG.rst
index faacc0cfdb2bf..43590966602d2 100644
--- a/common/autoware_component_interface_specs/CHANGELOG.rst
+++ b/common/autoware_component_interface_specs/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_component_interface_specs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 <https://github.com/autowarefoundation/autoware.universe/issues/9392>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/common/autoware_component_interface_specs/package.xml b/common/autoware_component_interface_specs/package.xml
index 5a2fd993613d1..4bbe62e7e9701 100644
--- a/common/autoware_component_interface_specs/package.xml
+++ b/common/autoware_component_interface_specs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_component_interface_specs</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_component_interface_specs package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
diff --git a/common/autoware_component_interface_tools/CHANGELOG.rst b/common/autoware_component_interface_tools/CHANGELOG.rst
index e0c07efa43418..b17fa431b27bb 100644
--- a/common/autoware_component_interface_tools/CHANGELOG.rst
+++ b/common/autoware_component_interface_tools/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_component_interface_tools
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix: fix missing namespaces in C++ code (`#9477 <https://github.com/autowarefoundation/autoware.universe/issues/9477>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/common/autoware_component_interface_tools/package.xml b/common/autoware_component_interface_tools/package.xml
index d0c79f3ad0d67..e38b048e22ebe 100644
--- a/common/autoware_component_interface_tools/package.xml
+++ b/common/autoware_component_interface_tools/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_component_interface_tools</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_component_interface_tools package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/autoware_component_interface_utils/CHANGELOG.rst b/common/autoware_component_interface_utils/CHANGELOG.rst
index 6e6ee88a3f3a7..d19e72f19e469 100644
--- a/common/autoware_component_interface_utils/CHANGELOG.rst
+++ b/common/autoware_component_interface_utils/CHANGELOG.rst
@@ -2,6 +2,34 @@
 Changelog for package autoware_component_interface_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - common (`#9564 <https://github.com/autowarefoundation/autoware.universe/issues/9564>`_)
+* fix: fix package names in changelog files (`#9500 <https://github.com/autowarefoundation/autoware.universe/issues/9500>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/common/autoware_component_interface_utils/package.xml b/common/autoware_component_interface_utils/package.xml
index 5efebf5c0d210..0bc51ee211d50 100755
--- a/common/autoware_component_interface_utils/package.xml
+++ b/common/autoware_component_interface_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_component_interface_utils</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_component_interface_utils package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
diff --git a/common/autoware_fake_test_node/CHANGELOG.rst b/common/autoware_fake_test_node/CHANGELOG.rst
index 5f04908a8ab0f..5bc3669a5aa27 100644
--- a/common/autoware_fake_test_node/CHANGELOG.rst
+++ b/common/autoware_fake_test_node/CHANGELOG.rst
@@ -2,6 +2,21 @@
 Changelog for package autoware_fake_test_node
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix package names in changelog files (`#9500 <https://github.com/autowarefoundation/autoware.universe/issues/9500>`_)
+* refactor(fake_test_node): prefix package and namespace with autoware (`#9249 <https://github.com/autowarefoundation/autoware.universe/issues/9249>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/common/autoware_fake_test_node/package.xml b/common/autoware_fake_test_node/package.xml
index 531e9351023e6..0ae881e4a41ba 100644
--- a/common/autoware_fake_test_node/package.xml
+++ b/common/autoware_fake_test_node/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_fake_test_node</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>A fake node that we can use in the integration-like cpp tests.</description>
   <maintainer email="opensource@apex.ai">Apex.AI, Inc.</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/common/autoware_global_parameter_loader/CHANGELOG.rst b/common/autoware_global_parameter_loader/CHANGELOG.rst
index 2de0adf89cb3e..d778018320271 100644
--- a/common/autoware_global_parameter_loader/CHANGELOG.rst
+++ b/common/autoware_global_parameter_loader/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package global_parameter_loader
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* refactor(global_parameter_loader): prefix package and namespace with autoware (`#9303 <https://github.com/autowarefoundation/autoware.universe/issues/9303>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/common/autoware_global_parameter_loader/package.xml b/common/autoware_global_parameter_loader/package.xml
index ef40ff8df22aa..8238e5852284f 100644
--- a/common/autoware_global_parameter_loader/package.xml
+++ b/common/autoware_global_parameter_loader/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_global_parameter_loader</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_global_parameter_loader package</description>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/autoware_glog_component/CHANGELOG.rst b/common/autoware_glog_component/CHANGELOG.rst
index 66eee038b6353..e9176b6524049 100644
--- a/common/autoware_glog_component/CHANGELOG.rst
+++ b/common/autoware_glog_component/CHANGELOG.rst
@@ -2,6 +2,21 @@
 Changelog for package glog_component
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* refactor(glog_component): prefix package and namespace with autoware (`#9302 <https://github.com/autowarefoundation/autoware.universe/issues/9302>`_)
+  Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/common/autoware_glog_component/package.xml b/common/autoware_glog_component/package.xml
index 3bfb6c97155b0..eab95fa8944d3 100644
--- a/common/autoware_glog_component/package.xml
+++ b/common/autoware_glog_component/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_glog_component</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_glog_component package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/autoware_goal_distance_calculator/CHANGELOG.rst b/common/autoware_goal_distance_calculator/CHANGELOG.rst
index 45fa8825612ef..df190270e02ab 100644
--- a/common/autoware_goal_distance_calculator/CHANGELOG.rst
+++ b/common/autoware_goal_distance_calculator/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_goal_distance_calculator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/common/autoware_goal_distance_calculator/package.xml b/common/autoware_goal_distance_calculator/package.xml
index 24b3b2f2ba9c6..903d77515f262 100644
--- a/common/autoware_goal_distance_calculator/package.xml
+++ b/common/autoware_goal_distance_calculator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_goal_distance_calculator</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_goal_distance_calculator package</description>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/autoware_grid_map_utils/CHANGELOG.rst b/common/autoware_grid_map_utils/CHANGELOG.rst
index 31df087b80d59..7a1b19b90a958 100644
--- a/common/autoware_grid_map_utils/CHANGELOG.rst
+++ b/common/autoware_grid_map_utils/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_grid_map_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - common (`#9564 <https://github.com/autowarefoundation/autoware.universe/issues/9564>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/common/autoware_grid_map_utils/package.xml b/common/autoware_grid_map_utils/package.xml
index cc64daa0045e0..bf89abc507173 100644
--- a/common/autoware_grid_map_utils/package.xml
+++ b/common/autoware_grid_map_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_grid_map_utils</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Utilities for the grid_map library</description>
   <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/autoware_interpolation/CHANGELOG.rst b/common/autoware_interpolation/CHANGELOG.rst
index e62e73ae4ec21..37fc48c525a49 100644
--- a/common/autoware_interpolation/CHANGELOG.rst
+++ b/common/autoware_interpolation/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_interpolation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - common (`#9564 <https://github.com/autowarefoundation/autoware.universe/issues/9564>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/common/autoware_interpolation/package.xml b/common/autoware_interpolation/package.xml
index 22db75271b316..3bad757405ed4 100644
--- a/common/autoware_interpolation/package.xml
+++ b/common/autoware_interpolation/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_interpolation</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The spline interpolation package</description>
   <maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/common/autoware_kalman_filter/CHANGELOG.rst b/common/autoware_kalman_filter/CHANGELOG.rst
index 5ec0bcc9e72dc..a7e68f8843e74 100644
--- a/common/autoware_kalman_filter/CHANGELOG.rst
+++ b/common/autoware_kalman_filter/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_kalman_filter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - common (`#9564 <https://github.com/autowarefoundation/autoware.universe/issues/9564>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/common/autoware_kalman_filter/package.xml b/common/autoware_kalman_filter/package.xml
index 4cd94ff488899..e51bb06e9de43 100644
--- a/common/autoware_kalman_filter/package.xml
+++ b/common/autoware_kalman_filter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_kalman_filter</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The kalman filter package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="takeshi.ishita@tier4.jp">Takeshi Ishita</maintainer>
diff --git a/common/autoware_motion_utils/CHANGELOG.rst b/common/autoware_motion_utils/CHANGELOG.rst
index 216d4d978bd8a..187ddda4acd39 100644
--- a/common/autoware_motion_utils/CHANGELOG.rst
+++ b/common/autoware_motion_utils/CHANGELOG.rst
@@ -2,6 +2,75 @@
 Changelog for package autoware_motion_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - common (`#9564 <https://github.com/autowarefoundation/autoware.universe/issues/9564>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(factor): move steering factor interface to motion utils (`#9337 <https://github.com/autowarefoundation/autoware.universe/issues/9337>`_)
+* feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory (`#9299 <https://github.com/autowarefoundation/autoware.universe/issues/9299>`_)
+  * feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory
+  * update
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 <https://github.com/autowarefoundation/autoware.universe/issues/9253>`_)
+  * create trajectory container package
+  * update
+  * update
+  * style(pre-commit): autofix
+  * update codeowner
+  * update
+  * fix cmake
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* feat(autoware_motion_utils): add new trajectory class (`#8693 <https://github.com/autowarefoundation/autoware.universe/issues/8693>`_)
+  * feat(autoware_motion_utils): add interpolator
+  * use int32_t instead of int
+  * use int32_t instead of int
+  * use int32_t instead of int
+  * add const as much as possible and use `at()` in `vector`
+  * fix directory name
+  * refactor code and add example
+  * update
+  * remove unused include
+  * refactor code
+  * add clone function
+  * fix stairstep
+  * make constructor to public
+  * feat(autoware_motion_utils): add trajectory class
+  * Update CMakeLists.txt
+  * fix
+  * fix package.xml
+  * update crop
+  * revert crtp change
+  * update package.xml
+  * updating...
+  * update
+  * solve build problem
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yukinari Hisaki, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/common/autoware_motion_utils/package.xml b/common/autoware_motion_utils/package.xml
index 4aa215b48e2ce..029985a53f020 100644
--- a/common/autoware_motion_utils/package.xml
+++ b/common/autoware_motion_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_motion_utils</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_motion_utils package</description>
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/common/autoware_object_recognition_utils/CHANGELOG.rst b/common/autoware_object_recognition_utils/CHANGELOG.rst
index 44bc2573f435a..920106de22082 100644
--- a/common/autoware_object_recognition_utils/CHANGELOG.rst
+++ b/common/autoware_object_recognition_utils/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_object_recognition_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - common (`#9564 <https://github.com/autowarefoundation/autoware.universe/issues/9564>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/common/autoware_object_recognition_utils/package.xml b/common/autoware_object_recognition_utils/package.xml
index 729999f96dc6e..05327766008f2 100644
--- a/common/autoware_object_recognition_utils/package.xml
+++ b/common/autoware_object_recognition_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_object_recognition_utils</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_object_recognition_utils package</description>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/common/autoware_osqp_interface/CHANGELOG.rst b/common/autoware_osqp_interface/CHANGELOG.rst
index 5ce7b02250fda..d400b77f4bf61 100644
--- a/common/autoware_osqp_interface/CHANGELOG.rst
+++ b/common/autoware_osqp_interface/CHANGELOG.rst
@@ -2,6 +2,33 @@
 Changelog for package autoware_osqp_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - common (`#9564 <https://github.com/autowarefoundation/autoware.universe/issues/9564>`_)
+* fix(autoware_osqp_interface): fix clang-tidy errors (`#9440 <https://github.com/autowarefoundation/autoware.universe/issues/9440>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/common/autoware_osqp_interface/package.xml b/common/autoware_osqp_interface/package.xml
index 95ffebe833cc6..92a2afeccc4e0 100644
--- a/common/autoware_osqp_interface/package.xml
+++ b/common/autoware_osqp_interface/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_osqp_interface</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Interface for the OSQP solver</description>
   <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/common/autoware_path_distance_calculator/CHANGELOG.rst b/common/autoware_path_distance_calculator/CHANGELOG.rst
index 6adf0a3e3c851..cd4c6ae5ce49b 100644
--- a/common/autoware_path_distance_calculator/CHANGELOG.rst
+++ b/common/autoware_path_distance_calculator/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_path_distance_calculator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/common/autoware_path_distance_calculator/package.xml b/common/autoware_path_distance_calculator/package.xml
index 7466b299e7e2e..6d207f6ed795d 100644
--- a/common/autoware_path_distance_calculator/package.xml
+++ b/common/autoware_path_distance_calculator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_path_distance_calculator</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_path_distance_calculator package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/autoware_point_types/CHANGELOG.rst b/common/autoware_point_types/CHANGELOG.rst
index 12cef4043ae3e..5e26002677a36 100644
--- a/common/autoware_point_types/CHANGELOG.rst
+++ b/common/autoware_point_types/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_point_types
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/common/autoware_point_types/package.xml b/common/autoware_point_types/package.xml
index fd48c12daa2e9..e35e6a63de648 100644
--- a/common/autoware_point_types/package.xml
+++ b/common/autoware_point_types/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_point_types</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The point types definition to use point_cloud_msg_wrapper</description>
   <maintainer email="david.wong@tier4.jp">David Wong</maintainer>
   <maintainer email="max.schmeller@tier4.jp">Max Schmeller</maintainer>
diff --git a/common/autoware_polar_grid/CHANGELOG.rst b/common/autoware_polar_grid/CHANGELOG.rst
index b4e9e612fe093..72a53e6cef4b7 100644
--- a/common/autoware_polar_grid/CHANGELOG.rst
+++ b/common/autoware_polar_grid/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_polar_grid
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/common/autoware_polar_grid/package.xml b/common/autoware_polar_grid/package.xml
index a2ed7a138bdca..16d6a72985ec9 100644
--- a/common/autoware_polar_grid/package.xml
+++ b/common/autoware_polar_grid/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_polar_grid</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_polar_grid package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/autoware_pyplot/CHANGELOG.rst b/common/autoware_pyplot/CHANGELOG.rst
new file mode 100644
index 0000000000000..c3b1f9c17f7d5
--- /dev/null
+++ b/common/autoware_pyplot/CHANGELOG.rst
@@ -0,0 +1,39 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package autoware_pyplot
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* docs(autoware_pyplot): add missing readme and move the package to common (`#9546 <https://github.com/autowarefoundation/autoware.universe/issues/9546>`_)
+* fix(autoware_pyplot): fix missing python3-dev dependency (`#9461 <https://github.com/autowarefoundation/autoware.universe/issues/9461>`_)
+* feat(pyplot): add C++ pyplot (`#9430 <https://github.com/autowarefoundation/autoware.universe/issues/9430>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Mamoru Sobue, Ryohsuke Mitsudome
+
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* docs(autoware_pyplot): add missing readme and move the package to common (`#9546 <https://github.com/autowarefoundation/autoware.universe/issues/9546>`_)
+* fix(autoware_pyplot): fix missing python3-dev dependency (`#9461 <https://github.com/autowarefoundation/autoware.universe/issues/9461>`_)
+* feat(pyplot): add C++ pyplot (`#9430 <https://github.com/autowarefoundation/autoware.universe/issues/9430>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Mamoru Sobue, Ryohsuke Mitsudome
+
+0.39.0 (2024-11-25)
+-------------------
+
+0.38.0 (2024-11-11)
+-------------------
diff --git a/common/autoware_pyplot/package.xml b/common/autoware_pyplot/package.xml
index 297ab68cb9367..2f3f3014d4907 100644
--- a/common/autoware_pyplot/package.xml
+++ b/common/autoware_pyplot/package.xml
@@ -2,12 +2,11 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_pyplot</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>C++ interface for matplotlib based on pybind11</description>
   <maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
   <maintainer email="yukinari.hisaki.2@tier4.jp">Yukinari Hisaki</maintainer>
   <license>Apache License 2.0</license>
-  <author email="koji.minoda@tier4.jp">Koji Minoda</author>
 
   <author email="mamoru.sobue@tier4.jp">Mamoru Sobue</author>
 
diff --git a/common/autoware_qp_interface/CHANGELOG.rst b/common/autoware_qp_interface/CHANGELOG.rst
index ce931f6f5e1e7..f76dac861e1e6 100644
--- a/common/autoware_qp_interface/CHANGELOG.rst
+++ b/common/autoware_qp_interface/CHANGELOG.rst
@@ -2,6 +2,35 @@
 Changelog for package autoware_qp_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - common (`#9564 <https://github.com/autowarefoundation/autoware.universe/issues/9564>`_)
+* fix: fix package names in changelog files (`#9500 <https://github.com/autowarefoundation/autoware.universe/issues/9500>`_)
+* fix(autoware_osqp_interface): fix clang-tidy errors (`#9440 <https://github.com/autowarefoundation/autoware.universe/issues/9440>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(qp_interface): prefix package and namespace with autoware (`#9236 <https://github.com/autowarefoundation/autoware.universe/issues/9236>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/common/autoware_qp_interface/package.xml b/common/autoware_qp_interface/package.xml
index 5bd3ce1ad8464..b61d03a36db72 100644
--- a/common/autoware_qp_interface/package.xml
+++ b/common/autoware_qp_interface/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_qp_interface</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Interface for the QP solvers</description>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
   <maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>
diff --git a/common/autoware_signal_processing/CHANGELOG.rst b/common/autoware_signal_processing/CHANGELOG.rst
index f41732a258cf7..b5b01e98e23a7 100644
--- a/common/autoware_signal_processing/CHANGELOG.rst
+++ b/common/autoware_signal_processing/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_signal_processing
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - common (`#9564 <https://github.com/autowarefoundation/autoware.universe/issues/9564>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/common/autoware_signal_processing/package.xml b/common/autoware_signal_processing/package.xml
index 6197c641a6f82..b8d7c064112dd 100644
--- a/common/autoware_signal_processing/package.xml
+++ b/common/autoware_signal_processing/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_signal_processing</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The signal processing package</description>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
diff --git a/common/autoware_test_utils/CHANGELOG.rst b/common/autoware_test_utils/CHANGELOG.rst
index 02a046a20e595..950fdb09aa119 100644
--- a/common/autoware_test_utils/CHANGELOG.rst
+++ b/common/autoware_test_utils/CHANGELOG.rst
@@ -2,6 +2,58 @@
 Changelog for package autoware_test_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* ci(pre-commit): update cpplint to 2.0.0 (`#9557 <https://github.com/autowarefoundation/autoware.universe/issues/9557>`_)
+* fix(cpplint): include what you use - common (`#9564 <https://github.com/autowarefoundation/autoware.universe/issues/9564>`_)
+* refactor(test_utils): return parser as optional (`#9391 <https://github.com/autowarefoundation/autoware.universe/issues/9391>`_)
+  Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com>
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(autoware_test_utils): add parser for LaneletRoute, TrackedObject (`#9317 <https://github.com/autowarefoundation/autoware.universe/issues/9317>`_)
+* test(autoware_test_utils): add TrafficLight to map, fix launcher (`#9318 <https://github.com/autowarefoundation/autoware.universe/issues/9318>`_)
+* test(bpp_common): add tests for the static drivable area (`#9324 <https://github.com/autowarefoundation/autoware.universe/issues/9324>`_)
+* test(costmap_generator): unit test implementation for costmap generator (`#9149 <https://github.com/autowarefoundation/autoware.universe/issues/9149>`_)
+  * modify costmap generator directory structure
+  * rename class CostmapGenerator to CostmapGeneratorNode
+  * unit test for object_map_utils
+  * catch error from lookupTransform
+  * use polling subscriber in costmap generator node
+  * add test for costmap generator node
+  * add test for isActive()
+  * revert unnecessary changes
+  * remove commented out line
+  * minor fix
+  * Update planning/autoware_costmap_generator/src/costmap_generator.cpp
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  ---------
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(autoware_test_utils): use sample_vehicle/sample_sensor_kit (`#9290 <https://github.com/autowarefoundation/autoware.universe/issues/9290>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* feat(autoware_test_utils): add general topic dumper (`#9207 <https://github.com/autowarefoundation/autoware.universe/issues/9207>`_)
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* feat(autoware_test_utils): add traffic light msgs parser (`#9177 <https://github.com/autowarefoundation/autoware.universe/issues/9177>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Maxime CLEMENT, Ryohsuke Mitsudome, Yutaka Kondo, Zulfaqar Azmi, awf-autoware-bot[bot], mkquda
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/common/autoware_test_utils/package.xml b/common/autoware_test_utils/package.xml
index 97c81c62ba512..22572abb72b69 100644
--- a/common/autoware_test_utils/package.xml
+++ b/common/autoware_test_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_test_utils</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>ROS 2 node for testing interface of the nodes in planning module</description>
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
diff --git a/common/autoware_testing/CHANGELOG.rst b/common/autoware_testing/CHANGELOG.rst
index 1a016888fda47..09ff6bdc4cf04 100644
--- a/common/autoware_testing/CHANGELOG.rst
+++ b/common/autoware_testing/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_testing
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/common/autoware_testing/package.xml b/common/autoware_testing/package.xml
index ae5b5e7a5d466..a5df1302b682d 100644
--- a/common/autoware_testing/package.xml
+++ b/common/autoware_testing/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_testing</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Tools for handling standard tests based on ros_testing</description>
   <maintainer email="adam.dabrowski@robotec.ai">Adam Dabrowski</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/common/autoware_time_utils/CHANGELOG.rst b/common/autoware_time_utils/CHANGELOG.rst
index 4f0f87e5daad8..b18c3dd42cbc6 100644
--- a/common/autoware_time_utils/CHANGELOG.rst
+++ b/common/autoware_time_utils/CHANGELOG.rst
@@ -2,6 +2,38 @@
 Changelog for package autoware_time_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix: fix package names in changelog files (`#9500 <https://github.com/autowarefoundation/autoware.universe/issues/9500>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(time_utils): prefix package and namespace with autoware (`#9173 <https://github.com/autowarefoundation/autoware.universe/issues/9173>`_)
+  * refactor(time_utils): prefix package and namespace with autoware
+  * refactor(time_utils): prefix package and namespace with autoware
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/common/autoware_time_utils/package.xml b/common/autoware_time_utils/package.xml
index 6491006b6cc27..278143e9ac4f8 100644
--- a/common/autoware_time_utils/package.xml
+++ b/common/autoware_time_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_time_utils</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Simple conversion methods to/from std::chrono to simplify algorithm development</description>
   <maintainer email="christopherj.ho@gmail.com">Christopher Ho</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst b/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst
index ea5339ba8d566..27a61bf71b1e8 100644
--- a/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst
+++ b/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst
@@ -2,6 +2,23 @@
 Changelog for package autoware_traffic_light_recognition_marker_publisher
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix(cpplint): include what you use - common (`#9564 <https://github.com/autowarefoundation/autoware.universe/issues/9564>`_)
+* fix: fix package names in changelog files (`#9500 <https://github.com/autowarefoundation/autoware.universe/issues/9500>`_)
+* fix: fix missing namespaces in C++ code (`#9477 <https://github.com/autowarefoundation/autoware.universe/issues/9477>`_)
+* refactor(traffic_light_recognition_marker_publisher): prefix package and namespace with autoware (`#9305 <https://github.com/autowarefoundation/autoware.universe/issues/9305>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/common/autoware_traffic_light_recognition_marker_publisher/package.xml b/common/autoware_traffic_light_recognition_marker_publisher/package.xml
index ddca8ad56c281..af670dc19baf1 100644
--- a/common/autoware_traffic_light_recognition_marker_publisher/package.xml
+++ b/common/autoware_traffic_light_recognition_marker_publisher/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_traffic_light_recognition_marker_publisher</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_traffic_light_recognition_marker_publisher package</description>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
   <maintainer email="takeshi.miura@tier4.jp">Takeshi Miura</maintainer>
diff --git a/common/autoware_traffic_light_utils/CHANGELOG.rst b/common/autoware_traffic_light_utils/CHANGELOG.rst
index 518123e826992..0230e43574de8 100644
--- a/common/autoware_traffic_light_utils/CHANGELOG.rst
+++ b/common/autoware_traffic_light_utils/CHANGELOG.rst
@@ -2,6 +2,22 @@
 Changelog for package autoware_traffic_light_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix(cpplint): include what you use - common (`#9564 <https://github.com/autowarefoundation/autoware.universe/issues/9564>`_)
+* fix: fix package names in changelog files (`#9500 <https://github.com/autowarefoundation/autoware.universe/issues/9500>`_)
+* refactor(traffic_light_utils): prefix package and namespace with autoware (`#9251 <https://github.com/autowarefoundation/autoware.universe/issues/9251>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/common/autoware_traffic_light_utils/package.xml b/common/autoware_traffic_light_utils/package.xml
index 744a7b08c22a9..645e92e2d992f 100644
--- a/common/autoware_traffic_light_utils/package.xml
+++ b/common/autoware_traffic_light_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_traffic_light_utils</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_traffic_light_utils package</description>
   <maintainer email="kotaro.uetake@tier4.jp">Kotaro Uetake</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/common/autoware_trajectory/CHANGELOG.rst b/common/autoware_trajectory/CHANGELOG.rst
index 1fbf18ec57abe..307dd8eb3dcf5 100644
--- a/common/autoware_trajectory/CHANGELOG.rst
+++ b/common/autoware_trajectory/CHANGELOG.rst
@@ -2,6 +2,49 @@
 Changelog for package autoware_trajectory
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - common (`#9564 <https://github.com/autowarefoundation/autoware.universe/issues/9564>`_)
+* refactor: correct spelling (`#9528 <https://github.com/autowarefoundation/autoware.universe/issues/9528>`_)
+* fix(autoware_trajectory): autoware_trajectory bug (`#9475 <https://github.com/autowarefoundation/autoware.universe/issues/9475>`_)
+  fix autoware_trajectory bug
+* 0.39.0
+* fix version
+* update changelog
+* add changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* refactor(autoware_trajectory): refactor autoware_trajectory (`#9356 <https://github.com/autowarefoundation/autoware.universe/issues/9356>`_)
+* feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory (`#9299 <https://github.com/autowarefoundation/autoware.universe/issues/9299>`_)
+  * feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory
+  * update
+  ---------
+* feat(autoware_trajectory): change default value of min_points (`#9315 <https://github.com/autowarefoundation/autoware.universe/issues/9315>`_)
+* fix(autoware_trajectory): fix bug of autoware_trajectory (`#9314 <https://github.com/autowarefoundation/autoware.universe/issues/9314>`_)
+* feat(autoware_trajectory): change interface of InterpolatedArray (`#9264 <https://github.com/autowarefoundation/autoware.universe/issues/9264>`_)
+  change interface of InterpolateArray
+* feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 <https://github.com/autowarefoundation/autoware.universe/issues/9253>`_)
+  * create trajectory container package
+  * update
+  * update
+  * style(pre-commit): autofix
+  * update codeowner
+  * update
+  * fix cmake
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* Contributors: Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yukinari Hisaki, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * add changelog
diff --git a/common/autoware_trajectory/package.xml b/common/autoware_trajectory/package.xml
index b1aaaed7efc6b..eaa5fca80ff46 100644
--- a/common/autoware_trajectory/package.xml
+++ b/common/autoware_trajectory/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_trajectory</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_trajectory package</description>
   <maintainer email="yukinari.hisaki.2@tier4.jp">Yukinari Hisaki</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/common/autoware_universe_utils/CHANGELOG.rst b/common/autoware_universe_utils/CHANGELOG.rst
index c85a9f14e960e..31f45a8ecbfce 100644
--- a/common/autoware_universe_utils/CHANGELOG.rst
+++ b/common/autoware_universe_utils/CHANGELOG.rst
@@ -2,6 +2,48 @@
 Changelog for package autoware_universe_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - common (`#9564 <https://github.com/autowarefoundation/autoware.universe/issues/9564>`_)
+* feat(universe_utils): add extra info to time keeper warning (`#9484 <https://github.com/autowarefoundation/autoware.universe/issues/9484>`_)
+  add extra info to time keeper warning
+* refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (`#9459 <https://github.com/autowarefoundation/autoware.universe/issues/9459>`_)
+  * add Accumulator class to autoware_universe_utils
+  * use Accumulator on all evaluators.
+  * pre-commit
+  * found and fixed a bug. add more tests.
+  * pre-commit
+  * Update common/autoware_universe_utils/include/autoware/universe_utils/math/accumulator.hpp
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  ---------
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation (`#8995 <https://github.com/autowarefoundation/autoware.universe/issues/8995>`_)
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Giovanni Muhammad Raditya, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, danielsanchezaran
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/common/autoware_universe_utils/package.xml b/common/autoware_universe_utils/package.xml
index 1c2e9993439e4..d04e1a57e78ab 100644
--- a/common/autoware_universe_utils/package.xml
+++ b/common/autoware_universe_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_universe_utils</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_universe_utils package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/common/autoware_vehicle_info_utils/CHANGELOG.rst b/common/autoware_vehicle_info_utils/CHANGELOG.rst
index 4d76f469414b5..a02256d5f9cea 100644
--- a/common/autoware_vehicle_info_utils/CHANGELOG.rst
+++ b/common/autoware_vehicle_info_utils/CHANGELOG.rst
@@ -2,6 +2,37 @@
 Changelog for package autoware_vehicle_info_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix(static_centerline_generator): several bug fixes (`#9426 <https://github.com/autowarefoundation/autoware.universe/issues/9426>`_)
+  * fix: dependent packages
+  * feat: use steer angle, use warn for steer angle failure, calc curvature dicontinuously
+  * fix cppcheck
+  ---------
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - common (`#9564 <https://github.com/autowarefoundation/autoware.universe/issues/9564>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/common/autoware_vehicle_info_utils/package.xml b/common/autoware_vehicle_info_utils/package.xml
index bc3f12f5f3ca0..b6a2f1ad5154a 100644
--- a/common/autoware_vehicle_info_utils/package.xml
+++ b/common/autoware_vehicle_info_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_vehicle_info_utils</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_vehicle_info_utils package</description>
 
   <!-- maintainer -->
diff --git a/common/tier4_api_utils/CHANGELOG.rst b/common/tier4_api_utils/CHANGELOG.rst
index a6ac6f3cf1e86..d9b94eeacc79b 100644
--- a/common/tier4_api_utils/CHANGELOG.rst
+++ b/common/tier4_api_utils/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package tier4_api_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/common/tier4_api_utils/package.xml b/common/tier4_api_utils/package.xml
index dba6450a338e4..3e7f99b8736c5 100644
--- a/common/tier4_api_utils/package.xml
+++ b/common/tier4_api_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_api_utils</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The tier4_api_utils package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <license>Apache License 2.0</license>
diff --git a/control/autoware_autonomous_emergency_braking/CHANGELOG.rst b/control/autoware_autonomous_emergency_braking/CHANGELOG.rst
index 67fe12fb1243b..578ffc14bae84 100644
--- a/control/autoware_autonomous_emergency_braking/CHANGELOG.rst
+++ b/control/autoware_autonomous_emergency_braking/CHANGELOG.rst
@@ -2,6 +2,89 @@
 Changelog for package autoware_autonomous_emergency_braking
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(autoware_autonomous_emergency_braking): add package maintainer (`#9580 <https://github.com/autowarefoundation/autoware.universe/issues/9580>`_)
+  add package maintainer
+* fix(cpplint): include what you use - control (`#9565 <https://github.com/autowarefoundation/autoware.universe/issues/9565>`_)
+* refactor(autoware_autonomous_emergency_braking): update longitudinal offset parameter name (`#9463 <https://github.com/autowarefoundation/autoware.universe/issues/9463>`_)
+  Update the parameter name for the longitudinal offset distance used for collision check in the autonomous emergency braking control module. The parameter name has been changed from "longitudinal_offset" to "longitudinal_offset_margin" to better reflect its purpose.
+* refactor(autoware_autonomous_emergency_braking): add getObjectOnPathData and getLongitudinalOffset functions (`#9462 <https://github.com/autowarefoundation/autoware.universe/issues/9462>`_)
+  * feat(aeb): add getObjectOnPathData and getLongitudinalOffset functions
+  ---------
+* docs(autoware_autonomous_emergency_braking): enhance IMU path generation section with constraints and algorithm details (`#9458 <https://github.com/autowarefoundation/autoware.universe/issues/9458>`_)
+* feat(autonomous_emergency_braking): set a lateral deviation limit for AEB IMU path (`#9410 <https://github.com/autowarefoundation/autoware.universe/issues/9410>`_)
+  * add a steer limit option for AEB
+  * wip refactor and add max lat dev param
+  * fix issue with test
+  * delete unwanted parts
+  * delete unwanted changes
+  * set to false
+  * change back path length
+  * add suggestions
+  * update readme
+  * cpp check
+  * fix some sentences
+  * expand explanation
+  * update image
+  * update README
+  * update description
+  * fix typo
+  * fix sentences
+  * improve readme
+  ---------
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(control): missing dependency in control components (`#9073 <https://github.com/autowarefoundation/autoware.universe/issues/9073>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 <https://github.com/autowarefoundation/autoware.universe/issues/9180>`_)
+  * first commit
+  * fix building errs.
+  * change diagnostic messages to metric messages for publishing decision.
+  * fix bug about motion_velocity_planner
+  * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner.
+  * tmp save for planning_evaluator
+  * change the topic to which metrics published to.
+  * fix typo.
+  * remove unnesessary publishing of metrics.
+  * mke planning_evaluator publish msg of MetricArray instead of Diags.
+  * update aeb with metric type for decision.
+  * fix some bug
+  * remove autoware_evaluator_utils package.
+  * remove diagnostic_msgs dependency of planning_evaluator
+  * use metric_msgs for autoware_processing_time_checker.
+  * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs.
+  * pre-commit and fix typo
+  * publish metrics even if there is no metric in the MetricArray.
+  * modify the metric name of processing_time.
+  * update unit test for test_planning/control_evaluator
+  * manual pre-commit
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autonomous_emergency_braking): solve issue with arc length (`#9247 <https://github.com/autowarefoundation/autoware.universe/issues/9247>`_)
+  * solve issue with arc length
+  * fix problem with points one vehicle apart from path
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), Kyoichi Sugahara, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, danielsanchezaran, mkquda, ぐるぐる
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/control/autoware_autonomous_emergency_braking/package.xml b/control/autoware_autonomous_emergency_braking/package.xml
index bab41a7c634d2..e22a0f099e2f0 100644
--- a/control/autoware_autonomous_emergency_braking/package.xml
+++ b/control/autoware_autonomous_emergency_braking/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_autonomous_emergency_braking</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Autonomous Emergency Braking package as a ROS 2 node</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/control/autoware_collision_detector/CHANGELOG.rst b/control/autoware_collision_detector/CHANGELOG.rst
index 4d0f2f9b2c579..a108327961ac3 100644
--- a/control/autoware_collision_detector/CHANGELOG.rst
+++ b/control/autoware_collision_detector/CHANGELOG.rst
@@ -2,6 +2,40 @@
 Changelog for package autoware_collision_detector
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - control (`#9565 <https://github.com/autowarefoundation/autoware.universe/issues/9565>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(collision_detector): skip process when odometry is not published (`#9308 <https://github.com/autowarefoundation/autoware.universe/issues/9308>`_)
+  * subscribe odometry
+  * fix precommit
+  * remove unnecessary log info
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* feat(collision_detector): use polling subscriber (`#9213 <https://github.com/autowarefoundation/autoware.universe/issues/9213>`_)
+  use polling subscriber
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/control/autoware_collision_detector/package.xml b/control/autoware_collision_detector/package.xml
index e2bdeb7fa9250..680c20b8094e7 100644
--- a/control/autoware_collision_detector/package.xml
+++ b/control/autoware_collision_detector/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_collision_detector</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The collision_detector package</description>
 
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
diff --git a/control/autoware_control_validator/CHANGELOG.rst b/control/autoware_control_validator/CHANGELOG.rst
index fca1ed1e51184..c35ece2151697 100644
--- a/control/autoware_control_validator/CHANGELOG.rst
+++ b/control/autoware_control_validator/CHANGELOG.rst
@@ -2,6 +2,36 @@
 Changelog for package autoware_control_validator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - control (`#9565 <https://github.com/autowarefoundation/autoware.universe/issues/9565>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat: suppress warning/error of the empty predicted trajectory by MPC (`#9373 <https://github.com/autowarefoundation/autoware.universe/issues/9373>`_)
+* fix(autoware_control_validator): fix clang-diagnostic-unused-private-field (`#9381 <https://github.com/autowarefoundation/autoware.universe/issues/9381>`_)
+* fix(control): missing dependency in control components (`#9073 <https://github.com/autowarefoundation/autoware.universe/issues/9073>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, ぐるぐる
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/control/autoware_control_validator/package.xml b/control/autoware_control_validator/package.xml
index 24c3daebb6749..fbaa3f013b64e 100644
--- a/control/autoware_control_validator/package.xml
+++ b/control/autoware_control_validator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_control_validator</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>ros node for autoware_control_validator</description>
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
diff --git a/control/autoware_external_cmd_selector/CHANGELOG.rst b/control/autoware_external_cmd_selector/CHANGELOG.rst
index 85e6e33fae450..2e4ee4c7d2906 100644
--- a/control/autoware_external_cmd_selector/CHANGELOG.rst
+++ b/control/autoware_external_cmd_selector/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_external_cmd_selector
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/control/autoware_external_cmd_selector/package.xml b/control/autoware_external_cmd_selector/package.xml
index 036e293b308df..86cbdf9f00bfb 100644
--- a/control/autoware_external_cmd_selector/package.xml
+++ b/control/autoware_external_cmd_selector/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_external_cmd_selector</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_external_cmd_selector package</description>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/control/autoware_joy_controller/CHANGELOG.rst b/control/autoware_joy_controller/CHANGELOG.rst
index f0ce6cd9eb030..8d25bab7fc6db 100644
--- a/control/autoware_joy_controller/CHANGELOG.rst
+++ b/control/autoware_joy_controller/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_joy_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/control/autoware_joy_controller/package.xml b/control/autoware_joy_controller/package.xml
index 3d695f995f855..b178ec167306a 100644
--- a/control/autoware_joy_controller/package.xml
+++ b/control/autoware_joy_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_joy_controller</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_joy_controller package</description>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/control/autoware_lane_departure_checker/CHANGELOG.rst b/control/autoware_lane_departure_checker/CHANGELOG.rst
index d7f502990a9a2..9b49f0c6c8fb1 100644
--- a/control/autoware_lane_departure_checker/CHANGELOG.rst
+++ b/control/autoware_lane_departure_checker/CHANGELOG.rst
@@ -2,6 +2,50 @@
 Changelog for package autoware_lane_departure_checker
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* ci(pre-commit): update cpplint to 2.0.0 (`#9557 <https://github.com/autowarefoundation/autoware.universe/issues/9557>`_)
+* test(lane_departure_checker): add unit test for createVehiclePassingAreas (`#9548 <https://github.com/autowarefoundation/autoware.universe/issues/9548>`_)
+  * test(lane_departure_checker): add unit tests for createVehiclePassingAreas function
+  ---------
+* refactor(lane_departure_checker): move member functions to util functions (`#9547 <https://github.com/autowarefoundation/autoware.universe/issues/9547>`_)
+  * refactor(lane_departure_checker): move member functions to util functions
+  ---------
+* fix(cpplint): include what you use - control (`#9565 <https://github.com/autowarefoundation/autoware.universe/issues/9565>`_)
+* test(lane_departure_checker): add tests for calcTrajectoryDeviation(), calcMaxSearchLengthForBoundaries() (`#9029 <https://github.com/autowarefoundation/autoware.universe/issues/9029>`_)
+  * move calcTrajectoryDeviation() to separate files
+  * move calcMaxSearchLengthForBoundaries() to separate files
+  * add tests for calcTrajectoryDeviation()
+  * add tests for calcMaxSearchLengthForBoundaries()
+  ---------
+  Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com>
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat: suppress warning/error of the empty predicted trajectory by MPC (`#9373 <https://github.com/autowarefoundation/autoware.universe/issues/9373>`_)
+* feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 <https://github.com/autowarefoundation/autoware.universe/issues/9309>`_)
+  speed up by updating polygons
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kyoichi Sugahara, M. Fatih Cırıt, Mitsuhiro Sakamoto, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo, awf-autoware-bot[bot], danielsanchezaran
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/control/autoware_lane_departure_checker/package.xml b/control/autoware_lane_departure_checker/package.xml
index 70ea7459a2b93..2689b4a4dbcb7 100644
--- a/control/autoware_lane_departure_checker/package.xml
+++ b/control/autoware_lane_departure_checker/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_lane_departure_checker</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_lane_departure_checker package</description>
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
   <maintainer email="makoto.kurihara@tier4.jp">Makoto Kurihara</maintainer>
diff --git a/control/autoware_mpc_lateral_controller/CHANGELOG.rst b/control/autoware_mpc_lateral_controller/CHANGELOG.rst
index a361c3aaec161..f149921648e8d 100644
--- a/control/autoware_mpc_lateral_controller/CHANGELOG.rst
+++ b/control/autoware_mpc_lateral_controller/CHANGELOG.rst
@@ -2,6 +2,56 @@
 Changelog for package autoware_mpc_lateral_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - control (`#9565 <https://github.com/autowarefoundation/autoware.universe/issues/9565>`_)
+* fix(autoware_mpc_lateral_controller): fix clang-tidy errors (`#9436 <https://github.com/autowarefoundation/autoware.universe/issues/9436>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(mpc_lateral_controller): suppress rclcpp_warning/error (`#9382 <https://github.com/autowarefoundation/autoware.universe/issues/9382>`_)
+  * feat(mpc_lateral_controller): suppress rclcpp_warning/error
+  * fix
+  * fix test
+  ---------
+* fix(autoware_mpc_lateral_controller): fix variableScope (`#9390 <https://github.com/autowarefoundation/autoware.universe/issues/9390>`_)
+* feat: suppress warning/error of the empty predicted trajectory by MPC (`#9373 <https://github.com/autowarefoundation/autoware.universe/issues/9373>`_)
+* chore(autoware_mpc_lateral_controller): add maintainer (`#9374 <https://github.com/autowarefoundation/autoware.universe/issues/9374>`_)
+* feat(trajectory_follower): publsih control horzion (`#8977 <https://github.com/autowarefoundation/autoware.universe/issues/8977>`_)
+  * feat(trajectory_follower): publsih control horzion
+  * fix typo
+  * rename functions and minor refactor
+  * add option to enable horizon pub
+  * add tests for horizon
+  * update docs
+  * rename to ~/debug/control_cmd_horizon
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(autoware_mpc_lateral_controller): fix bugprone-misplaced-widening-cast (`#9224 <https://github.com/autowarefoundation/autoware.universe/issues/9224>`_)
+  * fix: bugprone-misplaced-widening-cast
+  * fix: consider negative values
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (`#9199 <https://github.com/autowarefoundation/autoware.universe/issues/9199>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Kyoichi Sugahara, M. Fatih Cırıt, Maxime CLEMENT, Ryohsuke Mitsudome, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/control/autoware_mpc_lateral_controller/package.xml b/control/autoware_mpc_lateral_controller/package.xml
index d8bb14d211bf8..b450af05ea0e1 100644
--- a/control/autoware_mpc_lateral_controller/package.xml
+++ b/control/autoware_mpc_lateral_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_mpc_lateral_controller</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>MPC-based lateral controller</description>
 
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
diff --git a/control/autoware_obstacle_collision_checker/CHANGELOG.rst b/control/autoware_obstacle_collision_checker/CHANGELOG.rst
index 05e5b2d4190d7..79a7b2d8819e4 100644
--- a/control/autoware_obstacle_collision_checker/CHANGELOG.rst
+++ b/control/autoware_obstacle_collision_checker/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_obstacle_collision_checker
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - control (`#9565 <https://github.com/autowarefoundation/autoware.universe/issues/9565>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/control/autoware_obstacle_collision_checker/package.xml b/control/autoware_obstacle_collision_checker/package.xml
index 66df5e98bf57d..334c6d970fc36 100644
--- a/control/autoware_obstacle_collision_checker/package.xml
+++ b/control/autoware_obstacle_collision_checker/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_obstacle_collision_checker</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The obstacle_collision_checker package</description>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/control/autoware_operation_mode_transition_manager/CHANGELOG.rst b/control/autoware_operation_mode_transition_manager/CHANGELOG.rst
index af99c3781459a..3f178c04f9d48 100644
--- a/control/autoware_operation_mode_transition_manager/CHANGELOG.rst
+++ b/control/autoware_operation_mode_transition_manager/CHANGELOG.rst
@@ -2,6 +2,34 @@
 Changelog for package autoware_operation_mode_transition_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - control (`#9565 <https://github.com/autowarefoundation/autoware.universe/issues/9565>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/control/autoware_operation_mode_transition_manager/package.xml b/control/autoware_operation_mode_transition_manager/package.xml
index 7a0d6977a3e8f..eb4d50b625f11 100644
--- a/control/autoware_operation_mode_transition_manager/package.xml
+++ b/control/autoware_operation_mode_transition_manager/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>autoware_operation_mode_transition_manager</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The operation_mode_transition_manager package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/control/autoware_pid_longitudinal_controller/CHANGELOG.rst b/control/autoware_pid_longitudinal_controller/CHANGELOG.rst
index 57e2ce30aff35..d63f075c26918 100644
--- a/control/autoware_pid_longitudinal_controller/CHANGELOG.rst
+++ b/control/autoware_pid_longitudinal_controller/CHANGELOG.rst
@@ -2,6 +2,45 @@
 Changelog for package autoware_pid_longitudinal_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - control (`#9565 <https://github.com/autowarefoundation/autoware.universe/issues/9565>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(pid_longitudinal_controller): suppress rclcpp_warning/error (`#9384 <https://github.com/autowarefoundation/autoware.universe/issues/9384>`_)
+  * feat(pid_longitudinal_controller): suppress rclcpp_warning/error
+  * update codeowner
+  ---------
+* feat(trajectory_follower): publsih control horzion (`#8977 <https://github.com/autowarefoundation/autoware.universe/issues/8977>`_)
+  * feat(trajectory_follower): publsih control horzion
+  * fix typo
+  * rename functions and minor refactor
+  * add option to enable horizon pub
+  * add tests for horizon
+  * update docs
+  * rename to ~/debug/control_cmd_horizon
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, M. Fatih Cırıt, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/control/autoware_pid_longitudinal_controller/package.xml b/control/autoware_pid_longitudinal_controller/package.xml
index 88f8abaf225e8..67e95a9d4c0ac 100644
--- a/control/autoware_pid_longitudinal_controller/package.xml
+++ b/control/autoware_pid_longitudinal_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_pid_longitudinal_controller</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>PID-based longitudinal controller</description>
 
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
diff --git a/control/autoware_pure_pursuit/CHANGELOG.rst b/control/autoware_pure_pursuit/CHANGELOG.rst
index df0b7df3a9e52..e0afa320a49a5 100644
--- a/control/autoware_pure_pursuit/CHANGELOG.rst
+++ b/control/autoware_pure_pursuit/CHANGELOG.rst
@@ -2,6 +2,35 @@
 Changelog for package autoware_pure_pursuit
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* ci(pre-commit): update cpplint to 2.0.0 (`#9557 <https://github.com/autowarefoundation/autoware.universe/issues/9557>`_)
+* fix(cpplint): include what you use - control (`#9565 <https://github.com/autowarefoundation/autoware.universe/issues/9565>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_pure_pursuit): fix cppcheck unusedFunction (`#9276 <https://github.com/autowarefoundation/autoware.universe/issues/9276>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo, awf-autoware-bot[bot]
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/control/autoware_pure_pursuit/package.xml b/control/autoware_pure_pursuit/package.xml
index 03c46dbc22bb6..06500ddb32af0 100644
--- a/control/autoware_pure_pursuit/package.xml
+++ b/control/autoware_pure_pursuit/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_pure_pursuit</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The pure_pursuit package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/control/autoware_shift_decider/CHANGELOG.rst b/control/autoware_shift_decider/CHANGELOG.rst
index 72257774b4763..2b5eda421e452 100644
--- a/control/autoware_shift_decider/CHANGELOG.rst
+++ b/control/autoware_shift_decider/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_shift_decider
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/control/autoware_shift_decider/package.xml b/control/autoware_shift_decider/package.xml
index 75b11dfcd8379..fb7811e094dc2 100644
--- a/control/autoware_shift_decider/package.xml
+++ b/control/autoware_shift_decider/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_shift_decider</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_shift_decider package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst b/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst
index 34bb120a2752c..d3dc4d5eb1aa8 100644
--- a/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst
+++ b/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst
@@ -2,6 +2,33 @@
 Changelog for package autoware_smart_mpc_trajectory_follower
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - control (`#9565 <https://github.com/autowarefoundation/autoware.universe/issues/9565>`_)
+* fix(autoware_smart_mpc_trajectory_follower): fix clang-diagnostic-ignored-optimization-argument (`#9437 <https://github.com/autowarefoundation/autoware.universe/issues/9437>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/control/autoware_smart_mpc_trajectory_follower/package.xml b/control/autoware_smart_mpc_trajectory_follower/package.xml
index fb70eb05d21e5..7260dee488c52 100644
--- a/control/autoware_smart_mpc_trajectory_follower/package.xml
+++ b/control/autoware_smart_mpc_trajectory_follower/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_smart_mpc_trajectory_follower</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Nodes to follow a trajectory by generating control commands using smart mpc</description>
 
   <!-- mpc longitudinal controller -->
diff --git a/control/autoware_trajectory_follower_base/CHANGELOG.rst b/control/autoware_trajectory_follower_base/CHANGELOG.rst
index 9182dabfe66a6..88ccd57905c89 100644
--- a/control/autoware_trajectory_follower_base/CHANGELOG.rst
+++ b/control/autoware_trajectory_follower_base/CHANGELOG.rst
@@ -2,6 +2,40 @@
 Changelog for package autoware_trajectory_follower_base
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(trajectory_follower): publsih control horzion (`#8977 <https://github.com/autowarefoundation/autoware.universe/issues/8977>`_)
+  * feat(trajectory_follower): publsih control horzion
+  * fix typo
+  * rename functions and minor refactor
+  * add option to enable horizon pub
+  * add tests for horizon
+  * update docs
+  * rename to ~/debug/control_cmd_horizon
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/control/autoware_trajectory_follower_base/package.xml b/control/autoware_trajectory_follower_base/package.xml
index 32bf2b1f1a809..e7b00e4b19cdc 100644
--- a/control/autoware_trajectory_follower_base/package.xml
+++ b/control/autoware_trajectory_follower_base/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_trajectory_follower_base</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Library for generating lateral and longitudinal controls following a trajectory</description>
 
   <!-- mpc longitudinal controller -->
diff --git a/control/autoware_trajectory_follower_node/CHANGELOG.rst b/control/autoware_trajectory_follower_node/CHANGELOG.rst
index fad7a121bb624..c77e252230bfb 100644
--- a/control/autoware_trajectory_follower_node/CHANGELOG.rst
+++ b/control/autoware_trajectory_follower_node/CHANGELOG.rst
@@ -2,6 +2,51 @@
 Changelog for package autoware_trajectory_follower_node
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - control (`#9565 <https://github.com/autowarefoundation/autoware.universe/issues/9565>`_)
+* refactor: correct spelling (`#9528 <https://github.com/autowarefoundation/autoware.universe/issues/9528>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(mpc_lateral_controller): suppress rclcpp_warning/error (`#9382 <https://github.com/autowarefoundation/autoware.universe/issues/9382>`_)
+  * feat(mpc_lateral_controller): suppress rclcpp_warning/error
+  * fix
+  * fix test
+  ---------
+* fix(autoware_trajectory_follower_node): fix clang-diagnostic-format-security (`#9378 <https://github.com/autowarefoundation/autoware.universe/issues/9378>`_)
+* refactor(fake_test_node): prefix package and namespace with autoware (`#9249 <https://github.com/autowarefoundation/autoware.universe/issues/9249>`_)
+* feat(trajectory_follower): publsih control horzion (`#8977 <https://github.com/autowarefoundation/autoware.universe/issues/8977>`_)
+  * feat(trajectory_follower): publsih control horzion
+  * fix typo
+  * rename functions and minor refactor
+  * add option to enable horizon pub
+  * add tests for horizon
+  * update docs
+  * rename to ~/debug/control_cmd_horizon
+  ---------
+* fix(control): missing dependency in control components (`#9073 <https://github.com/autowarefoundation/autoware.universe/issues/9073>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, ぐるぐる
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/control/autoware_trajectory_follower_node/package.xml b/control/autoware_trajectory_follower_node/package.xml
index e4000feef9474..aa65e340d20fe 100644
--- a/control/autoware_trajectory_follower_node/package.xml
+++ b/control/autoware_trajectory_follower_node/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_trajectory_follower_node</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Nodes to follow a trajectory by generating control commands separated into lateral and longitudinal commands</description>
 
   <!-- mpc longitudinal controller -->
diff --git a/control/autoware_vehicle_cmd_gate/CHANGELOG.rst b/control/autoware_vehicle_cmd_gate/CHANGELOG.rst
index ce6420fa69b76..38dae3279b1c8 100644
--- a/control/autoware_vehicle_cmd_gate/CHANGELOG.rst
+++ b/control/autoware_vehicle_cmd_gate/CHANGELOG.rst
@@ -2,6 +2,37 @@
 Changelog for package autoware_vehicle_cmd_gate
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - control (`#9565 <https://github.com/autowarefoundation/autoware.universe/issues/9565>`_)
+* fix(autoware_vehicle_cmd_gate): remove unused variable (`#9377 <https://github.com/autowarefoundation/autoware.universe/issues/9377>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(control): missing dependency in control components (`#9073 <https://github.com/autowarefoundation/autoware.universe/issues/9073>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(vehicle_cmd_gate): fix processing time measurement (`#9260 <https://github.com/autowarefoundation/autoware.universe/issues/9260>`_)
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Maxime CLEMENT, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo, ぐるぐる
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/control/autoware_vehicle_cmd_gate/package.xml b/control/autoware_vehicle_cmd_gate/package.xml
index 3253f5a498933..c3697337e2256 100644
--- a/control/autoware_vehicle_cmd_gate/package.xml
+++ b/control/autoware_vehicle_cmd_gate/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_vehicle_cmd_gate</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The vehicle_cmd_gate package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/control/control_performance_analysis/CHANGELOG.rst b/control/control_performance_analysis/CHANGELOG.rst
index f32fbe5cb0b1c..67b4f15ddde9f 100644
--- a/control/control_performance_analysis/CHANGELOG.rst
+++ b/control/control_performance_analysis/CHANGELOG.rst
@@ -2,6 +2,35 @@
 Changelog for package control_performance_analysis
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - control (`#9565 <https://github.com/autowarefoundation/autoware.universe/issues/9565>`_)
+* refactor(global_parameter_loader): prefix package and namespace with autoware (`#9303 <https://github.com/autowarefoundation/autoware.universe/issues/9303>`_)
+* docs(control_performance_analysis): utilize mathjax syntax in readme (`#9552 <https://github.com/autowarefoundation/autoware.universe/issues/9552>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(control_performance_analysis): clang-diagnostic-pessimizing-move (`#9380 <https://github.com/autowarefoundation/autoware.universe/issues/9380>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/control/control_performance_analysis/package.xml b/control/control_performance_analysis/package.xml
index 49b8f69570bb4..9c2ef69e0137b 100644
--- a/control/control_performance_analysis/package.xml
+++ b/control/control_performance_analysis/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>control_performance_analysis</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Controller Performance Evaluation</description>
   <maintainer email="berkay@leodrive.ai">Berkay Karaman</maintainer>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
diff --git a/control/predicted_path_checker/CHANGELOG.rst b/control/predicted_path_checker/CHANGELOG.rst
index 15418d84cba3a..2cfe80aeada7b 100644
--- a/control/predicted_path_checker/CHANGELOG.rst
+++ b/control/predicted_path_checker/CHANGELOG.rst
@@ -2,6 +2,34 @@
 Changelog for package predicted_path_checker
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - control (`#9565 <https://github.com/autowarefoundation/autoware.universe/issues/9565>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/control/predicted_path_checker/package.xml b/control/predicted_path_checker/package.xml
index f23828f8a586c..e2f9d17769e1a 100644
--- a/control/predicted_path_checker/package.xml
+++ b/control/predicted_path_checker/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>predicted_path_checker</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The predicted_path_checker package</description>
 
   <maintainer email="berkay@leodrive.ai">Berkay Karaman</maintainer>
diff --git a/evaluator/autoware_control_evaluator/CHANGELOG.rst b/evaluator/autoware_control_evaluator/CHANGELOG.rst
index e67a53de4656a..88afa49d97cc3 100644
--- a/evaluator/autoware_control_evaluator/CHANGELOG.rst
+++ b/evaluator/autoware_control_evaluator/CHANGELOG.rst
@@ -2,6 +2,74 @@
 Changelog for package autoware_control_evaluator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - evaluator (`#9566 <https://github.com/autowarefoundation/autoware.universe/issues/9566>`_)
+* fix(control_evaluator): correct goal_lateal_deviation (`#9532 <https://github.com/autowarefoundation/autoware.universe/issues/9532>`_)
+* feat(control_evaluator, tier4_control_launch): add a trigger to choice whether to output metrics to log folder (`#9478 <https://github.com/autowarefoundation/autoware.universe/issues/9478>`_)
+  * refactor and add output_metrics. a bug existing when psim.
+  * refactored launch file.
+  * output description
+  * add parm to launch file.
+  * move output_metrics from param config to launch file.
+  * move output_metrics from config to launch.xml
+  * fix unit test bug.
+  * fix test bug again.
+  * Update evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp
+  ---------
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(control_evaluator): add processing time publisher (`#9339 <https://github.com/autowarefoundation/autoware.universe/issues/9339>`_)
+* test(autoware_control_evaluator): add unit test for utils autoware_control_evaluator (`#9307 <https://github.com/autowarefoundation/autoware.universe/issues/9307>`_)
+  * update unit test of control_evaluator.
+  * manual pre-commit.
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 <https://github.com/autowarefoundation/autoware.universe/issues/9180>`_)
+  * first commit
+  * fix building errs.
+  * change diagnostic messages to metric messages for publishing decision.
+  * fix bug about motion_velocity_planner
+  * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner.
+  * tmp save for planning_evaluator
+  * change the topic to which metrics published to.
+  * fix typo.
+  * remove unnesessary publishing of metrics.
+  * mke planning_evaluator publish msg of MetricArray instead of Diags.
+  * update aeb with metric type for decision.
+  * fix some bug
+  * remove autoware_evaluator_utils package.
+  * remove diagnostic_msgs dependency of planning_evaluator
+  * use metric_msgs for autoware_processing_time_checker.
+  * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs.
+  * pre-commit and fix typo
+  * publish metrics even if there is no metric in the MetricArray.
+  * modify the metric name of processing_time.
+  * update unit test for test_planning/control_evaluator
+  * manual pre-commit
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kazunori-Nakajima, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/evaluator/autoware_control_evaluator/package.xml b/evaluator/autoware_control_evaluator/package.xml
index 473f3bff7257e..a636a55bc5efd 100644
--- a/evaluator/autoware_control_evaluator/package.xml
+++ b/evaluator/autoware_control_evaluator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_control_evaluator</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>ROS 2 node for evaluating control</description>
   <maintainer email="daniel.sanchez@tier4.jp">Daniel SANCHEZ</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">takayuki MUROOKA</maintainer>
diff --git a/evaluator/autoware_planning_evaluator/CHANGELOG.rst b/evaluator/autoware_planning_evaluator/CHANGELOG.rst
index 9dc854ae8d623..77f544ae078fa 100644
--- a/evaluator/autoware_planning_evaluator/CHANGELOG.rst
+++ b/evaluator/autoware_planning_evaluator/CHANGELOG.rst
@@ -2,6 +2,77 @@
 Changelog for package autoware_planning_evaluator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - evaluator (`#9566 <https://github.com/autowarefoundation/autoware.universe/issues/9566>`_)
+* feat(planning_evaluator): add a trigger to choice whether to output metrics to log folder (`#9476 <https://github.com/autowarefoundation/autoware.universe/issues/9476>`_)
+  * tmp save
+  * planning_evaluator build ok, test it.
+  * add descriptions to output.
+  * pre-commit.
+  * add parm to launch file.
+  * move output_metrics from config to launch file.
+  * fix unit test bug.
+  ---------
+* refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (`#9459 <https://github.com/autowarefoundation/autoware.universe/issues/9459>`_)
+  * add Accumulator class to autoware_universe_utils
+  * use Accumulator on all evaluators.
+  * pre-commit
+  * found and fixed a bug. add more tests.
+  * pre-commit
+  * Update common/autoware_universe_utils/include/autoware/universe_utils/math/accumulator.hpp
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  ---------
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+* feat(planning_evaluator): add processing time pub (`#9334 <https://github.com/autowarefoundation/autoware.universe/issues/9334>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(evaluator): missing dependency in evaluator components (`#9074 <https://github.com/autowarefoundation/autoware.universe/issues/9074>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 <https://github.com/autowarefoundation/autoware.universe/issues/9180>`_)
+  * first commit
+  * fix building errs.
+  * change diagnostic messages to metric messages for publishing decision.
+  * fix bug about motion_velocity_planner
+  * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner.
+  * tmp save for planning_evaluator
+  * change the topic to which metrics published to.
+  * fix typo.
+  * remove unnesessary publishing of metrics.
+  * mke planning_evaluator publish msg of MetricArray instead of Diags.
+  * update aeb with metric type for decision.
+  * fix some bug
+  * remove autoware_evaluator_utils package.
+  * remove diagnostic_msgs dependency of planning_evaluator
+  * use metric_msgs for autoware_processing_time_checker.
+  * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs.
+  * pre-commit and fix typo
+  * publish metrics even if there is no metric in the MetricArray.
+  * modify the metric name of processing_time.
+  * update unit test for test_planning/control_evaluator
+  * manual pre-commit
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kazunori-Nakajima, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, ぐるぐる
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/evaluator/autoware_planning_evaluator/package.xml b/evaluator/autoware_planning_evaluator/package.xml
index 09c8a17a8d791..4389b2e52f44d 100644
--- a/evaluator/autoware_planning_evaluator/package.xml
+++ b/evaluator/autoware_planning_evaluator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_planning_evaluator</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>ROS 2 node for evaluating planners</description>
   <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
diff --git a/evaluator/kinematic_evaluator/CHANGELOG.rst b/evaluator/kinematic_evaluator/CHANGELOG.rst
index da5509f14143e..2283ea3b36a95 100644
--- a/evaluator/kinematic_evaluator/CHANGELOG.rst
+++ b/evaluator/kinematic_evaluator/CHANGELOG.rst
@@ -2,6 +2,43 @@
 Changelog for package kinematic_evaluator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - evaluator (`#9566 <https://github.com/autowarefoundation/autoware.universe/issues/9566>`_)
+* refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (`#9459 <https://github.com/autowarefoundation/autoware.universe/issues/9459>`_)
+  * add Accumulator class to autoware_universe_utils
+  * use Accumulator on all evaluators.
+  * pre-commit
+  * found and fixed a bug. add more tests.
+  * pre-commit
+  * Update common/autoware_universe_utils/include/autoware/universe_utils/math/accumulator.hpp
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  ---------
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(evaluator): missing dependency in evaluator components (`#9074 <https://github.com/autowarefoundation/autoware.universe/issues/9074>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, ぐるぐる
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/evaluator/kinematic_evaluator/package.xml b/evaluator/kinematic_evaluator/package.xml
index ab01f15c3c154..fbd5df3f27765 100644
--- a/evaluator/kinematic_evaluator/package.xml
+++ b/evaluator/kinematic_evaluator/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>kinematic_evaluator</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>kinematic evaluator ROS 2 node</description>
 
   <maintainer email="dominik.jargot@robotec.ai">Dominik Jargot</maintainer>
diff --git a/evaluator/localization_evaluator/CHANGELOG.rst b/evaluator/localization_evaluator/CHANGELOG.rst
index 7438643fe19a6..0c24579d3004d 100644
--- a/evaluator/localization_evaluator/CHANGELOG.rst
+++ b/evaluator/localization_evaluator/CHANGELOG.rst
@@ -2,6 +2,44 @@
 Changelog for package localization_evaluator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - evaluator (`#9566 <https://github.com/autowarefoundation/autoware.universe/issues/9566>`_)
+* chore(localization_evaluator): Add some maintainers (`#9503 <https://github.com/autowarefoundation/autoware.universe/issues/9503>`_)
+* refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (`#9459 <https://github.com/autowarefoundation/autoware.universe/issues/9459>`_)
+  * add Accumulator class to autoware_universe_utils
+  * use Accumulator on all evaluators.
+  * pre-commit
+  * found and fixed a bug. add more tests.
+  * pre-commit
+  * Update common/autoware_universe_utils/include/autoware/universe_utils/math/accumulator.hpp
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  ---------
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(evaluator): missing dependency in evaluator components (`#9074 <https://github.com/autowarefoundation/autoware.universe/issues/9074>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), M. Fatih Cırıt, Motz, Ryohsuke Mitsudome, Yutaka Kondo, ぐるぐる
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/evaluator/localization_evaluator/package.xml b/evaluator/localization_evaluator/package.xml
index a38871a1af6a2..7058064f17b72 100644
--- a/evaluator/localization_evaluator/package.xml
+++ b/evaluator/localization_evaluator/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>localization_evaluator</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>localization evaluator ROS 2 node</description>
 
   <maintainer email="dominik.jargot@robotec.ai">Dominik Jargot</maintainer>
diff --git a/evaluator/perception_online_evaluator/CHANGELOG.rst b/evaluator/perception_online_evaluator/CHANGELOG.rst
index f3e999f66ee0e..c3ffd03cce3b1 100644
--- a/evaluator/perception_online_evaluator/CHANGELOG.rst
+++ b/evaluator/perception_online_evaluator/CHANGELOG.rst
@@ -2,6 +2,44 @@
 Changelog for package perception_online_evaluator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - evaluator (`#9566 <https://github.com/autowarefoundation/autoware.universe/issues/9566>`_)
+* refactor(perception_online_evaluator): use tier4_metric_msgs instead of diagnostic_msgs (`#9485 <https://github.com/autowarefoundation/autoware.universe/issues/9485>`_)
+* refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (`#9459 <https://github.com/autowarefoundation/autoware.universe/issues/9459>`_)
+  * add Accumulator class to autoware_universe_utils
+  * use Accumulator on all evaluators.
+  * pre-commit
+  * found and fixed a bug. add more tests.
+  * pre-commit
+  * Update common/autoware_universe_utils/include/autoware/universe_utils/math/accumulator.hpp
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  ---------
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(evaluator): missing dependency in evaluator components (`#9074 <https://github.com/autowarefoundation/autoware.universe/issues/9074>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), Kotaro Uetake, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, ぐるぐる
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/evaluator/perception_online_evaluator/package.xml b/evaluator/perception_online_evaluator/package.xml
index bebc46457807e..94575a0adbb4c 100644
--- a/evaluator/perception_online_evaluator/package.xml
+++ b/evaluator/perception_online_evaluator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>perception_online_evaluator</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>ROS 2 node for evaluating perception</description>
   <maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
diff --git a/evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst b/evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst
new file mode 100644
index 0000000000000..7b583a3da7959
--- /dev/null
+++ b/evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst
@@ -0,0 +1,498 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package scenario_simulator_v2_adapter
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix(cpplint): include what you use - evaluator (`#9566 <https://github.com/autowarefoundation/autoware.universe/issues/9566>`_)
+* fix(scenario_simulator_v2_adapter): remove invalid CHANGELOG.rst file (`#9501 <https://github.com/autowarefoundation/autoware.universe/issues/9501>`_)
+* 0.39.0
+* fix version
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 <https://github.com/autowarefoundation/autoware.universe/issues/9180>`_)
+  * first commit
+  * fix building errs.
+  * change diagnostic messages to metric messages for publishing decision.
+  * fix bug about motion_velocity_planner
+  * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner.
+  * tmp save for planning_evaluator
+  * change the topic to which metrics published to.
+  * fix typo.
+  * remove unnesessary publishing of metrics.
+  * mke planning_evaluator publish msg of MetricArray instead of Diags.
+  * update aeb with metric type for decision.
+  * fix some bug
+  * remove autoware_evaluator_utils package.
+  * remove diagnostic_msgs dependency of planning_evaluator
+  * use metric_msgs for autoware_processing_time_checker.
+  * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs.
+  * pre-commit and fix typo
+  * publish metrics even if there is no metric in the MetricArray.
+  * modify the metric name of processing_time.
+  * update unit test for test_planning/control_evaluator
+  * manual pre-commit
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix(cpplint): include what you use - evaluator (`#9566 <https://github.com/autowarefoundation/autoware.universe/issues/9566>`_)
+* fix(scenario_simulator_v2_adapter): remove invalid CHANGELOG.rst file (`#9501 <https://github.com/autowarefoundation/autoware.universe/issues/9501>`_)
+* 0.39.0
+* fix version
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 <https://github.com/autowarefoundation/autoware.universe/issues/9180>`_)
+  * first commit
+  * fix building errs.
+  * change diagnostic messages to metric messages for publishing decision.
+  * fix bug about motion_velocity_planner
+  * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner.
+  * tmp save for planning_evaluator
+  * change the topic to which metrics published to.
+  * fix typo.
+  * remove unnesessary publishing of metrics.
+  * mke planning_evaluator publish msg of MetricArray instead of Diags.
+  * update aeb with metric type for decision.
+  * fix some bug
+  * remove autoware_evaluator_utils package.
+  * remove diagnostic_msgs dependency of planning_evaluator
+  * use metric_msgs for autoware_processing_time_checker.
+  * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs.
+  * pre-commit and fix typo
+  * publish metrics even if there is no metric in the MetricArray.
+  * modify the metric name of processing_time.
+  * update unit test for test_planning/control_evaluator
+  * manual pre-commit
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
+0.39.0 (2024-11-25)
+-------------------
+* chore(package.xml): bump version to 0.39.0 (`#9435 <https://github.com/autowarefoundation/autoware.universe/issues/9435>`_)
+  * chore: update CODEOWNERS (`#9203 <https://github.com/autowarefoundation/autoware.universe/issues/9203>`_)
+  Co-authored-by: github-actions <github-actions@github.com>
+  * refactor(time_utils): prefix package and namespace with autoware (`#9173 <https://github.com/autowarefoundation/autoware.universe/issues/9173>`_)
+  * refactor(time_utils): prefix package and namespace with autoware
+  * refactor(time_utils): prefix package and namespace with autoware
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  * feat(rtc_interface): add requested field (`#9202 <https://github.com/autowarefoundation/autoware.universe/issues/9202>`_)
+  * add requested feature
+  * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp
+  Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
+  ---------
+  Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
+  * fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (`#9199 <https://github.com/autowarefoundation/autoware.universe/issues/9199>`_)
+  * fix(bpp): prevent accessing nullopt (`#9204 <https://github.com/autowarefoundation/autoware.universe/issues/9204>`_)
+  fix(bpp): calcDistanceToRedTrafficLight null
+  * refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 <https://github.com/autowarefoundation/autoware.universe/issues/9201>`_)
+  * refactor: grouping functions
+  * refactor: grouping parameters
+  * refactor: rename member road_users_history to road_users_history\_
+  * refactor: separate util functions
+  * refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node
+  * refactor: Add explicit template instantiation for removeOldObjectsHistory function
+  * refactor: Add tf2_geometry_msgs to data_structure
+  * refactor: Remove unused variables and functions in map_based_prediction_node.cpp
+  * Update perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp
+  * Apply suggestions from code review
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com>
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  * refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 <https://github.com/autowarefoundation/autoware.universe/issues/8912>`_)
+  * Moved ndt_omp into ndt_scan_matcher
+  * Added Copyright
+  * style(pre-commit): autofix
+  * Fixed include
+  * Fixed cast style
+  * Fixed include
+  * Fixed honorific title
+  * Fixed honorific title
+  * style(pre-commit): autofix
+  * Fixed include hierarchy
+  * style(pre-commit): autofix
+  * Fixed include hierarchy
+  * style(pre-commit): autofix
+  * Fixed hierarchy
+  * Fixed NVTP to NVTL
+  * Added cspell:ignore
+  * Fixed miss spell
+  * style(pre-commit): autofix
+  * Fixed include
+  * Renamed applyFilter
+  * Moved ***_impl.hpp from include/ to src/
+  * style(pre-commit): autofix
+  * Fixed variable scope
+  * Fixed to pass by reference
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  * feat(autoware_test_utils): add traffic light msgs parser (`#9177 <https://github.com/autowarefoundation/autoware.universe/issues/9177>`_)
+  * fix(rtc_interface): update requested field for every cooperateStatus state (`#9211 <https://github.com/autowarefoundation/autoware.universe/issues/9211>`_)
+  * fix rtc_interface
+  * fix test condition
+  ---------
+  * feat(static_obstacle_avoidance): operator request for ambiguous vehicle (`#9205 <https://github.com/autowarefoundation/autoware.universe/issues/9205>`_)
+  * add operator request feature
+  * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
+  Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
+  ---------
+  Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
+  * feat(collision_detector): use polling subscriber (`#9213 <https://github.com/autowarefoundation/autoware.universe/issues/9213>`_)
+  use polling subscriber
+  * fix(diagnostic_graph_utils): reset graph when new one is received (`#9208 <https://github.com/autowarefoundation/autoware.universe/issues/9208>`_)
+  fix(diagnostic_graph_utils): reset graph when new one is reveived
+  * fix(autoware_ndt_scan_matcher): reduce initial_pose_estimation.particles_num from 200 to 100 on tests (`#9218 <https://github.com/autowarefoundation/autoware.universe/issues/9218>`_)
+  Reduced initial_pose_estimation.particles_num from 200 to 100 on tests
+  * feat(control_launch): add collision detector in launch (`#9214 <https://github.com/autowarefoundation/autoware.universe/issues/9214>`_)
+  add collision detector in launch
+  * chore(obstacle_cruise_planner): add function tests for a utils function (`#9206 <https://github.com/autowarefoundation/autoware.universe/issues/9206>`_)
+  * add utils test
+  ---------
+  * fix(bvp): remove expired module safely (`#9212 <https://github.com/autowarefoundation/autoware.universe/issues/9212>`_)
+  * fix(bvp): remove expired module safely
+  * fix: remove module id set
+  * fix: use itr to erase expired module
+  * fix: remove unused function
+  ---------
+  * test(bpp_common): add unit test for safety check (`#9223 <https://github.com/autowarefoundation/autoware.universe/issues/9223>`_)
+  * add test for object collision
+  * add test for more functions
+  * add docstring
+  * fix lane change
+  ---------
+  * fix(autoware_behavior_path_goal_planner_module): fix cppcheck unreadVariable (`#9192 <https://github.com/autowarefoundation/autoware.universe/issues/9192>`_)
+  * fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9229 <https://github.com/autowarefoundation/autoware.universe/issues/9229>`_)
+  * fix: bugprone-misplaced-widening-cast
+  * fix: clang-format
+  ---------
+  * fix(autoware_euclidean_cluster): fix bugprone-misplaced-widening-cast (`#9227 <https://github.com/autowarefoundation/autoware.universe/issues/9227>`_)
+  fix: bugprone-misplaced-widening-cast
+  * fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9226 <https://github.com/autowarefoundation/autoware.universe/issues/9226>`_)
+  * fix: bugprone-misplaced-widening-cast
+  * fix: clang-format
+  ---------
+  * fix(autoware_compare_map_segmentation): fix cppcheck constVariableReference (`#9196 <https://github.com/autowarefoundation/autoware.universe/issues/9196>`_)
+  * refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+  * fix(autoware_behavior_velocity_no_stopping_area_module): fix cppcheck knownConditionTrueFalse (`#9189 <https://github.com/autowarefoundation/autoware.universe/issues/9189>`_)
+  * fix(autoware_freespace_planning_algorithms): fix bugprone-unused-raii (`#9230 <https://github.com/autowarefoundation/autoware.universe/issues/9230>`_)
+  fix: bugprone-unused-raii
+  * refactor(map_based_prediction): divide objectsCallback (`#9219 <https://github.com/autowarefoundation/autoware.universe/issues/9219>`_)
+  * refactor(map_based_prediction): move member functions to utils (`#9225 <https://github.com/autowarefoundation/autoware.universe/issues/9225>`_)
+  * test(crosswalk): add unit test (`#9228 <https://github.com/autowarefoundation/autoware.universe/issues/9228>`_)
+  * fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-incorrect-roundings (`#9221 <https://github.com/autowarefoundation/autoware.universe/issues/9221>`_)
+  fix: bugprone-incorrect-roundings
+  * refactor(cuda_utils): prefix package and namespace with autoware (`#9171 <https://github.com/autowarefoundation/autoware.universe/issues/9171>`_)
+  * fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback (`#9234 <https://github.com/autowarefoundation/autoware.universe/issues/9234>`_)
+  * feat(autoware_motion_utils): add new trajectory class (`#8693 <https://github.com/autowarefoundation/autoware.universe/issues/8693>`_)
+  * feat(autoware_motion_utils): add interpolator
+  * use int32_t instead of int
+  * use int32_t instead of int
+  * use int32_t instead of int
+  * add const as much as possible and use `at()` in `vector`
+  * fix directory name
+  * refactor code and add example
+  * update
+  * remove unused include
+  * refactor code
+  * add clone function
+  * fix stairstep
+  * make constructor to public
+  * feat(autoware_motion_utils): add trajectory class
+  * Update CMakeLists.txt
+  * fix
+  * fix package.xml
+  * update crop
+  * revert crtp change
+  * update package.xml
+  * updating...
+  * update
+  * solve build problem
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  * fix(autoware_image_projection_based_fusion): make optional to consider lens distortion in the point projection (`#9233 <https://github.com/autowarefoundation/autoware.universe/issues/9233>`_)
+  chore: add point_project_to_unrectified_image parameter to fusion_common.param.yaml
+  * feat(autoware_test_utils): add general topic dumper (`#9207 <https://github.com/autowarefoundation/autoware.universe/issues/9207>`_)
+  * fix(autoware_ekf_localizer): remove `timer_tf\_` (`#9244 <https://github.com/autowarefoundation/autoware.universe/issues/9244>`_)
+  Removed timer_tf\_
+  * fix(autoware_rtc_interface): fix dependency (`#9237 <https://github.com/autowarefoundation/autoware.universe/issues/9237>`_)
+  * fix(autonomous_emergency_braking): solve issue with arc length (`#9247 <https://github.com/autowarefoundation/autoware.universe/issues/9247>`_)
+  * solve issue with arc length
+  * fix problem with points one vehicle apart from path
+  ---------
+  * fix(autoware_lidar_apollo_instance_segmentation): fix cppcheck suspiciousFloatingPointCast (`#9195 <https://github.com/autowarefoundation/autoware.universe/issues/9195>`_)
+  * fix(autoware_behavior_path_sampling_planner_module): fix cppcheck unusedVariable (`#9190 <https://github.com/autowarefoundation/autoware.universe/issues/9190>`_)
+  * refactor(qp_interface): prefix package and namespace with autoware (`#9236 <https://github.com/autowarefoundation/autoware.universe/issues/9236>`_)
+  * chore(autoware_geography_utils): update maintainers (`#9246 <https://github.com/autowarefoundation/autoware.universe/issues/9246>`_)
+  * update maintainers
+  * add author
+  ---------
+  * fix(lane_change): enable cancel when ego in turn direction lane (`#9124 <https://github.com/autowarefoundation/autoware.universe/issues/9124>`_)
+  * RT0-33893 add checks from prev intersection
+  * fix shadow variable
+  * fix logic
+  * update readme
+  * refactor get_ego_footprint
+  ---------
+  * fix(out_of_lane): correct calculations of the stop pose (`#9209 <https://github.com/autowarefoundation/autoware.universe/issues/9209>`_)
+  * fix(autoware_pointcloud_preprocessor): launch file load parameter from yaml (`#8129 <https://github.com/autowarefoundation/autoware.universe/issues/8129>`_)
+  * feat: fix launch file
+  * chore: fix spell error
+  * chore: fix parameters file name
+  * chore: remove filter base
+  ---------
+  * fix: missing dependency in common components (`#9072 <https://github.com/autowarefoundation/autoware.universe/issues/9072>`_)
+  * feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 <https://github.com/autowarefoundation/autoware.universe/issues/9253>`_)
+  * create trajectory container package
+  * update
+  * update
+  * style(pre-commit): autofix
+  * update codeowner
+  * update
+  * fix cmake
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  * fix(autoware_pointcloud_preprocessor): fix the wrong naming of crop box parameter file  (`#9258 <https://github.com/autowarefoundation/autoware.universe/issues/9258>`_)
+  fix: fix the wrong file name
+  * fix(dummy_diag_publisher): not use diagnostic_updater and param callback (`#9257 <https://github.com/autowarefoundation/autoware.universe/issues/9257>`_)
+  * fix(dummy_diag_publisher): not use diagnostic_updater and param callback for v0.29.0 (`#1414 <https://github.com/autowarefoundation/autoware.universe/issues/1414>`_)
+  fix(dummy_diag_publisher): not use diagnostic_updater and param callback
+  Co-authored-by: h-ohta <hiroki.ota@tier4.jp>
+  * fix: resolve build error of dummy diag publisher (`#1415 <https://github.com/autowarefoundation/autoware.universe/issues/1415>`_)
+  fix merge conflict
+  ---------
+  Co-authored-by: Shohei Sakai <saka1s.jp@gmail.com>
+  Co-authored-by: h-ohta <hiroki.ota@tier4.jp>
+  * test(behavior_path_planner_common): add unit test for path shifter (`#9239 <https://github.com/autowarefoundation/autoware.universe/issues/9239>`_)
+  * add unit test for path shifter
+  * fix unnecessary modification
+  * fix spelling mistake
+  * add docstring
+  ---------
+  * feat(system_monitor): support loopback network interface (`#9067 <https://github.com/autowarefoundation/autoware.universe/issues/9067>`_)
+  * feat(system_monitor): support loopback network interface
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  * feat(autoware_trajectory): change interface of InterpolatedArray (`#9264 <https://github.com/autowarefoundation/autoware.universe/issues/9264>`_)
+  change interface of InterpolateArray
+  * feat(system_monitor): add on/off config for network traffic monitor (`#9069 <https://github.com/autowarefoundation/autoware.universe/issues/9069>`_)
+  * feat(system_monitor): add config for network traffic monitor
+  * fix: change function name from stop to skip
+  ---------
+  * feat(detection_area)!: add retruction feature (`#9255 <https://github.com/autowarefoundation/autoware.universe/issues/9255>`_)
+  * fix(vehicle_cmd_gate): fix processing time measurement (`#9260 <https://github.com/autowarefoundation/autoware.universe/issues/9260>`_)
+  * fix(bvp): use polling subscriber (`#9242 <https://github.com/autowarefoundation/autoware.universe/issues/9242>`_)
+  * fix(bvp): use polling subscriber
+  * fix: use newest policy
+  ---------
+  * refactor(lane_change): remove std::optional from lanes polygon (`#9267 <https://github.com/autowarefoundation/autoware.universe/issues/9267>`_)
+  * fix(bpp): prevent accessing nullopt (`#9269 <https://github.com/autowarefoundation/autoware.universe/issues/9269>`_)
+  * refactor(lane_change): revert "remove std::optional from lanes polygon" (`#9272 <https://github.com/autowarefoundation/autoware.universe/issues/9272>`_)
+  Revert "refactor(lane_change): remove std::optional from lanes polygon (`#9267 <https://github.com/autowarefoundation/autoware.universe/issues/9267>`_)"
+  This reverts commit 0c70ea8793985c6aae90f851eeffdd2561fe04b3.
+  * feat(goal_planner): sort candidate path only when num to avoid is different (`#9271 <https://github.com/autowarefoundation/autoware.universe/issues/9271>`_)
+  * fix(/autoware_freespace_planning_algorithms): fix cppcheck unusedFunction (`#9274 <https://github.com/autowarefoundation/autoware.universe/issues/9274>`_)
+  * fix(autoware_behavior_path_start_planner_module): fix cppcheck unreadVariable (`#9277 <https://github.com/autowarefoundation/autoware.universe/issues/9277>`_)
+  * fix(autoware_ndt_scan_matcher): fix cppcheck unusedFunction (`#9275 <https://github.com/autowarefoundation/autoware.universe/issues/9275>`_)
+  * fix(autoware_pure_pursuit): fix cppcheck unusedFunction (`#9276 <https://github.com/autowarefoundation/autoware.universe/issues/9276>`_)
+  * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 <https://github.com/autowarefoundation/autoware.universe/issues/9279>`_)
+  fix computation of maximum lane changing length threshold
+  * feat(aeb): set global param to override autoware state check (`#9263 <https://github.com/autowarefoundation/autoware.universe/issues/9263>`_)
+  * set global param to override autoware state check
+  * change variable to be more general
+  * add comment
+  * move param to control component launch
+  * change param name to be more straightforward
+  ---------
+  * fix(autoware_default_adapi): change subscribing steering factor topic name for obstacle avoidance and lane changes (`#9273 <https://github.com/autowarefoundation/autoware.universe/issues/9273>`_)
+  feat(planning): add new steering factor topics for obstacle avoidance and lane changes
+  * chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+  * fix(lane_change): extending lane change path for multiple lane change (RT1-8427) (`#9268 <https://github.com/autowarefoundation/autoware.universe/issues/9268>`_)
+  * RT1-8427 extending lc path for multiple lc
+  * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
+  Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
+  ---------
+  Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
+  * fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation (`#8995 <https://github.com/autowarefoundation/autoware.universe/issues/8995>`_)
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
+  * fix(behavior_path_planner_common): use boost intersects instead of overlaps (`#9289 <https://github.com/autowarefoundation/autoware.universe/issues/9289>`_)
+  * fix(behavior_path_planner_common): use boost intersects instead of overlaps
+  * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp
+  Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com>
+  ---------
+  Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com>
+  * ci(.github): update image tags (`#9286 <https://github.com/autowarefoundation/autoware.universe/issues/9286>`_)
+  * refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 <https://github.com/autowarefoundation/autoware.universe/issues/9250>`_)
+  * refactor(autoware_ad_api_specs): prefix package and namespace with autoware
+  * style(pre-commit): autofix
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * style(pre-commit): autofix
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  * chore(autoware_traffic_light*): add maintainer (`#9280 <https://github.com/autowarefoundation/autoware.universe/issues/9280>`_)
+  * add fundamental commit
+  * add forgot package
+  ---------
+  * fix(autoware_mpc_lateral_controller): fix bugprone-misplaced-widening-cast (`#9224 <https://github.com/autowarefoundation/autoware.universe/issues/9224>`_)
+  * fix: bugprone-misplaced-widening-cast
+  * fix: consider negative values
+  ---------
+  * fix(autoware_detected_object_validation): fix clang-diagnostic-error (`#9215 <https://github.com/autowarefoundation/autoware.universe/issues/9215>`_)
+  fix: clang-c-error
+  * fix(autoware_detected_object_validation): fix bugprone-incorrect-roundings (`#9220 <https://github.com/autowarefoundation/autoware.universe/issues/9220>`_)
+  fix: bugprone-incorrect-roundings
+  * feat(autoware_test_utils): use sample_vehicle/sample_sensor_kit (`#9290 <https://github.com/autowarefoundation/autoware.universe/issues/9290>`_)
+  * refactor(lane_change): remove std::optional from lanes polygon (`#9288 <https://github.com/autowarefoundation/autoware.universe/issues/9288>`_)
+  * feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 <https://github.com/autowarefoundation/autoware.universe/issues/9180>`_)
+  * first commit
+  * fix building errs.
+  * change diagnostic messages to metric messages for publishing decision.
+  * fix bug about motion_velocity_planner
+  * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner.
+  * tmp save for planning_evaluator
+  * change the topic to which metrics published to.
+  * fix typo.
+  * remove unnesessary publishing of metrics.
+  * mke planning_evaluator publish msg of MetricArray instead of Diags.
+  * update aeb with metric type for decision.
+  * fix some bug
+  * remove autoware_evaluator_utils package.
+  * remove diagnostic_msgs dependency of planning_evaluator
+  * use metric_msgs for autoware_processing_time_checker.
+  * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs.
+  * pre-commit and fix typo
+  * publish metrics even if there is no metric in the MetricArray.
+  * modify the metric name of processing_time.
+  * update unit test for test_planning/control_evaluator
+  * manual pre-commit
+  ---------
+  * feat(diagnostic_graph_aggregator): implement diagnostic graph dump functionality (`#9261 <https://github.com/autowarefoundation/autoware.universe/issues/9261>`_)
+  * chore(tvm_utility): remove tvm_utility package as it is no longer used (`#9291 <https://github.com/autowarefoundation/autoware.universe/issues/9291>`_)
+  * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+  * perf(autoware_ndt_scan_matcher): remove evecs\_, evals\_ of Leaf for memory efficiency (`#9281 <https://github.com/autowarefoundation/autoware.universe/issues/9281>`_)
+  * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 <https://github.com/autowarefoundation/autoware.universe/issues/9279>`_)
+  fix computation of maximum lane changing length threshold
+  * perf: remove evecs, evals from Leaf
+  * perf: remove evecs, evals from Leaf
+  ---------
+  Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
+  * test(costmap_generator): unit test implementation for costmap generator (`#9149 <https://github.com/autowarefoundation/autoware.universe/issues/9149>`_)
+  * modify costmap generator directory structure
+  * rename class CostmapGenerator to CostmapGeneratorNode
+  * unit test for object_map_utils
+  * catch error from lookupTransform
+  * use polling subscriber in costmap generator node
+  * add test for costmap generator node
+  * add test for isActive()
+  * revert unnecessary changes
+  * remove commented out line
+  * minor fix
+  * Update planning/autoware_costmap_generator/src/costmap_generator.cpp
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  ---------
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  * fix(control): missing dependency in control components (`#9073 <https://github.com/autowarefoundation/autoware.universe/issues/9073>`_)
+  * test(autoware_control_evaluator): add unit test for utils autoware_control_evaluator (`#9307 <https://github.com/autowarefoundation/autoware.universe/issues/9307>`_)
+  * update unit test of control_evaluator.
+  * manual pre-commit.
+  ---------
+  * fix(collision_detector): skip process when odometry is not published (`#9308 <https://github.com/autowarefoundation/autoware.universe/issues/9308>`_)
+  * subscribe odometry
+  * fix precommit
+  * remove unnecessary log info
+  ---------
+  * feat(goal_planner): safety check with only parking path (`#9293 <https://github.com/autowarefoundation/autoware.universe/issues/9293>`_)
+  * refactor(goal_planner): remove reference_goal_pose getter/setter (`#9270 <https://github.com/autowarefoundation/autoware.universe/issues/9270>`_)
+  * feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 <https://github.com/autowarefoundation/autoware.universe/issues/9309>`_)
+  speed up by updating polygons
+  * fix(autoware_trajectory): fix bug of autoware_trajectory (`#9314 <https://github.com/autowarefoundation/autoware.universe/issues/9314>`_)
+  * feat(autoware_trajectory): change default value of min_points (`#9315 <https://github.com/autowarefoundation/autoware.universe/issues/9315>`_)
+  * chore(codecov): update maintained packages (`#9316 <https://github.com/autowarefoundation/autoware.universe/issues/9316>`_)
+  * doc: fix links to design documents (`#9301 <https://github.com/autowarefoundation/autoware.universe/issues/9301>`_)
+  * fix(costmap_generator): use vehicle frame for lidar height thresholds (`#9311 <https://github.com/autowarefoundation/autoware.universe/issues/9311>`_)
+  * fix(tier4_dummy_object_rviz_plugin): fix missing dependency (`#9306 <https://github.com/autowarefoundation/autoware.universe/issues/9306>`_)
+  * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+  * add changelog
+  * update changelog
+  * fix version
+  * 0.39.0
+  * refactor(map_loader)!: prefix package and namespace with autoware (`#8927 <https://github.com/autowarefoundation/autoware.universe/issues/8927>`_)
+  * make lanelet2_map_visualization independent
+  * remove unused files
+  * remove unused package
+  * fix package name
+  * add autoware\_ prefix
+  * add autoware to exec name
+  * add autoware prefix
+  * removed unnecessary dependency
+  ---------
+  * update version
+  ---------
+  Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com>
+  Co-authored-by: github-actions <github-actions@github.com>
+  Co-authored-by: Esteve Fernandez <33620+esteve@users.noreply.github.com>
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com>
+  Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
+  Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
+  Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
+  Co-authored-by: Taekjin LEE <taekjin.lee@tier4.jp>
+  Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com>
+  Co-authored-by: SakodaShintaro <shintaro.sakoda@tier4.jp>
+  Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
+  Co-authored-by: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
+  Co-authored-by: Ryuta Kambe <ryuta.kambe@tier4.jp>
+  Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com>
+  Co-authored-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>
+  Co-authored-by: danielsanchezaran <daniel.sanchez@tier4.jp>
+  Co-authored-by: Yamato Ando <yamato.ando@gmail.com>
+  Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
+  Co-authored-by: Yi-Hsiang Fang (Vivid) <146902905+vividf@users.noreply.github.com>
+  Co-authored-by: ぐるぐる <f0reach@f0reach.me>
+  Co-authored-by: Shohei Sakai <saka1s.jp@gmail.com>
+  Co-authored-by: h-ohta <hiroki.ota@tier4.jp>
+  Co-authored-by: iwatake <take.iwiw2222@gmail.com>
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
+  Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
+  Co-authored-by: Giovanni Muhammad Raditya <mraditya01@yahoo.com>
+  Co-authored-by: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com>
+  Co-authored-by: Kem (TiankuiXian) <1041084556@qq.com>
+  Co-authored-by: Kento Osa <38522559+taisa1@users.noreply.github.com>
+  Co-authored-by: Masaki Baba <maumaumaumaumaumaumaumaumaumau@gmail.com>
+* Contributors: Yutaka Kondo
+
+0.38.0 (2024-11-11)
+-------------------
diff --git a/evaluator/scenario_simulator_v2_adapter/package.xml b/evaluator/scenario_simulator_v2_adapter/package.xml
index 45c4f91c0eb83..3922bc84d78d5 100644
--- a/evaluator/scenario_simulator_v2_adapter/package.xml
+++ b/evaluator/scenario_simulator_v2_adapter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>scenario_simulator_v2_adapter</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Node for converting autoware's messages into UserDefinedValue messages</description>
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
   <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
diff --git a/launch/tier4_autoware_api_launch/CHANGELOG.rst b/launch/tier4_autoware_api_launch/CHANGELOG.rst
index 38825528d8c39..5892c238a3bd6 100644
--- a/launch/tier4_autoware_api_launch/CHANGELOG.rst
+++ b/launch/tier4_autoware_api_launch/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package tier4_autoware_api_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/launch/tier4_autoware_api_launch/package.xml b/launch/tier4_autoware_api_launch/package.xml
index 4b52acbc8d804..45df577f28f29 100644
--- a/launch/tier4_autoware_api_launch/package.xml
+++ b/launch/tier4_autoware_api_launch/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_autoware_api_launch</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The tier4_autoware_api_launch package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
diff --git a/launch/tier4_control_launch/CHANGELOG.rst b/launch/tier4_control_launch/CHANGELOG.rst
index cbe41dcd85828..3f94ac4f2b2e0 100644
--- a/launch/tier4_control_launch/CHANGELOG.rst
+++ b/launch/tier4_control_launch/CHANGELOG.rst
@@ -2,6 +2,77 @@
 Changelog for package tier4_control_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix: autoware_glog_compontnt (`#9586 <https://github.com/autowarefoundation/autoware.universe/issues/9586>`_)
+  Fixed autoware_glog_compontnt
+* refactor(glog_component): prefix package and namespace with autoware (`#9302 <https://github.com/autowarefoundation/autoware.universe/issues/9302>`_)
+  Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
+* feat(control_evaluator, tier4_control_launch): add a trigger to choice whether to output metrics to log folder (`#9478 <https://github.com/autowarefoundation/autoware.universe/issues/9478>`_)
+  * refactor and add output_metrics. a bug existing when psim.
+  * refactored launch file.
+  * output description
+  * add parm to launch file.
+  * move output_metrics from param config to launch file.
+  * move output_metrics from config to launch.xml
+  * fix unit test bug.
+  * fix test bug again.
+  * Update evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp
+  ---------
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(tier4_control_launch): use preset.yaml to control which modules to launch for control modules (`#9351 <https://github.com/autowarefoundation/autoware.universe/issues/9351>`_)
+  * update contro.launch for preset.xml
+  * update options.
+  * fix bug.
+  * rename to enable\_*
+  * check group.
+  * space.
+  * reduce num of load_composable_node.
+  * tmp save.
+  * tmp save.
+  * splite control modules' launch.
+  * final version
+  * remove on/off option for shift decider, vehicle cmd gate, and operation mode transition manager
+  * pre-commit
+  ---------
+* fix(collision_detector): skip process when odometry is not published (`#9308 <https://github.com/autowarefoundation/autoware.universe/issues/9308>`_)
+  * subscribe odometry
+  * fix precommit
+  * remove unnecessary log info
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* feat(aeb): set global param to override autoware state check (`#9263 <https://github.com/autowarefoundation/autoware.universe/issues/9263>`_)
+  * set global param to override autoware state check
+  * change variable to be more general
+  * add comment
+  * move param to control component launch
+  * change param name to be more straightforward
+  ---------
+* feat(control_launch): add collision detector in launch (`#9214 <https://github.com/autowarefoundation/autoware.universe/issues/9214>`_)
+  add collision detector in launch
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Kem (TiankuiXian), Ryohsuke Mitsudome, SakodaShintaro, Yutaka Kondo, danielsanchezaran
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/launch/tier4_control_launch/package.xml b/launch/tier4_control_launch/package.xml
index 09eb3302c7811..d9a2f9883cbce 100644
--- a/launch/tier4_control_launch/package.xml
+++ b/launch/tier4_control_launch/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_control_launch</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The tier4_control_launch package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/launch/tier4_localization_launch/CHANGELOG.rst b/launch/tier4_localization_launch/CHANGELOG.rst
index 21cf37981a40a..991f04240d04d 100644
--- a/launch/tier4_localization_launch/CHANGELOG.rst
+++ b/launch/tier4_localization_launch/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package tier4_localization_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml
index 66d2a3277f505..55c9c59a2b000 100644
--- a/launch/tier4_localization_launch/package.xml
+++ b/launch/tier4_localization_launch/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_localization_launch</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The tier4_localization_launch package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
diff --git a/launch/tier4_map_launch/CHANGELOG.rst b/launch/tier4_map_launch/CHANGELOG.rst
index 11f8aeb97cda3..5ba95030bf15b 100644
--- a/launch/tier4_map_launch/CHANGELOG.rst
+++ b/launch/tier4_map_launch/CHANGELOG.rst
@@ -2,6 +2,50 @@
 Changelog for package tier4_map_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 <https://github.com/autowarefoundation/autoware.universe/issues/8927>`_)
+  * make lanelet2_map_visualization independent
+  * remove unused files
+  * remove unused package
+  * fix package name
+  * add autoware\_ prefix
+  * add autoware to exec name
+  * add autoware prefix
+  * removed unnecessary dependency
+  ---------
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 <https://github.com/autowarefoundation/autoware.universe/issues/8927>`_)
+  * make lanelet2_map_visualization independent
+  * remove unused files
+  * remove unused package
+  * fix package name
+  * add autoware\_ prefix
+  * add autoware to exec name
+  * add autoware prefix
+  * removed unnecessary dependency
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/launch/tier4_map_launch/package.xml b/launch/tier4_map_launch/package.xml
index 91874321b5db0..ba512960af1b2 100644
--- a/launch/tier4_map_launch/package.xml
+++ b/launch/tier4_map_launch/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_map_launch</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The tier4_map_launch package</description>
   <maintainer email="ryu.yamamoto@tier4.jp">Ryu Yamamoto</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
diff --git a/launch/tier4_perception_launch/CHANGELOG.rst b/launch/tier4_perception_launch/CHANGELOG.rst
index 412665dab796f..b8ac734476a36 100644
--- a/launch/tier4_perception_launch/CHANGELOG.rst
+++ b/launch/tier4_perception_launch/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package tier4_perception_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml
index 7b705d4b74f78..613223fa960bd 100644
--- a/launch/tier4_perception_launch/package.xml
+++ b/launch/tier4_perception_launch/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_perception_launch</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The tier4_perception_launch package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/launch/tier4_planning_launch/CHANGELOG.rst b/launch/tier4_planning_launch/CHANGELOG.rst
index 2641162594a74..efa4a02803c46 100644
--- a/launch/tier4_planning_launch/CHANGELOG.rst
+++ b/launch/tier4_planning_launch/CHANGELOG.rst
@@ -2,6 +2,42 @@
 Changelog for package tier4_planning_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix: autoware_glog_compontnt (`#9586 <https://github.com/autowarefoundation/autoware.universe/issues/9586>`_)
+  Fixed autoware_glog_compontnt
+* refactor(glog_component): prefix package and namespace with autoware (`#9302 <https://github.com/autowarefoundation/autoware.universe/issues/9302>`_)
+  Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
+* refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (`#9470 <https://github.com/autowarefoundation/autoware.universe/issues/9470>`_)
+  * refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files
+  * Update planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py
+  Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com>
+  * fix
+  ---------
+  Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com>
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, SakodaShintaro, Yukinari Hisaki, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml
index 286e09a2f17ed..0a6e9d7fce13a 100644
--- a/launch/tier4_planning_launch/package.xml
+++ b/launch/tier4_planning_launch/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_planning_launch</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The tier4_planning_launch package</description>
   <!-- behavior path planner -->
   <!-- lane change module -->
diff --git a/launch/tier4_sensing_launch/CHANGELOG.rst b/launch/tier4_sensing_launch/CHANGELOG.rst
index 7e1b9756effdd..7e6e12e53a08c 100644
--- a/launch/tier4_sensing_launch/CHANGELOG.rst
+++ b/launch/tier4_sensing_launch/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package tier4_sensing_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/launch/tier4_sensing_launch/package.xml b/launch/tier4_sensing_launch/package.xml
index 12194a163e0f1..6e7553ac9f8f0 100644
--- a/launch/tier4_sensing_launch/package.xml
+++ b/launch/tier4_sensing_launch/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_sensing_launch</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The tier4_sensing_launch package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <license>Apache License 2.0</license>
diff --git a/launch/tier4_simulator_launch/CHANGELOG.rst b/launch/tier4_simulator_launch/CHANGELOG.rst
index 46aa2059dea76..569da150b16ae 100644
--- a/launch/tier4_simulator_launch/CHANGELOG.rst
+++ b/launch/tier4_simulator_launch/CHANGELOG.rst
@@ -2,6 +2,60 @@
 Changelog for package tier4_simulator_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* refactor(vehicle_velocity_converter)!: prefix package and namespace with autoware (`#8967 <https://github.com/autowarefoundation/autoware.universe/issues/8967>`_)
+  * add autoware prefix
+  * fix conflict
+  ---------
+  Co-authored-by: Yamato Ando <yamato.ando@gmail.com>
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 <https://github.com/autowarefoundation/autoware.universe/issues/9180>`_)
+  * first commit
+  * fix building errs.
+  * change diagnostic messages to metric messages for publishing decision.
+  * fix bug about motion_velocity_planner
+  * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner.
+  * tmp save for planning_evaluator
+  * change the topic to which metrics published to.
+  * fix typo.
+  * remove unnesessary publishing of metrics.
+  * mke planning_evaluator publish msg of MetricArray instead of Diags.
+  * update aeb with metric type for decision.
+  * fix some bug
+  * remove autoware_evaluator_utils package.
+  * remove diagnostic_msgs dependency of planning_evaluator
+  * use metric_msgs for autoware_processing_time_checker.
+  * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs.
+  * pre-commit and fix typo
+  * publish metrics even if there is no metric in the MetricArray.
+  * modify the metric name of processing_time.
+  * update unit test for test_planning/control_evaluator
+  * manual pre-commit
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/launch/tier4_simulator_launch/package.xml b/launch/tier4_simulator_launch/package.xml
index b61954dcc297d..19bc81b056b60 100644
--- a/launch/tier4_simulator_launch/package.xml
+++ b/launch/tier4_simulator_launch/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_simulator_launch</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The tier4_simulator_launch package</description>
   <maintainer email="keisuke.shima@tier4.jp">Keisuke Shima</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/launch/tier4_system_launch/CHANGELOG.rst b/launch/tier4_system_launch/CHANGELOG.rst
index 26f1031652d54..9ffb34c4599a9 100644
--- a/launch/tier4_system_launch/CHANGELOG.rst
+++ b/launch/tier4_system_launch/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package tier4_system_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/launch/tier4_system_launch/package.xml b/launch/tier4_system_launch/package.xml
index 92bee6d1d3e86..9f5678b937dbc 100644
--- a/launch/tier4_system_launch/package.xml
+++ b/launch/tier4_system_launch/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_system_launch</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The tier4_system_launch package</description>
   <maintainer email="fumihito.ito@tier4.jp">Fumihito Ito</maintainer>
   <maintainer email="tetsuhiro.kawaguchi@tier4.jp">TetsuKawa</maintainer>
diff --git a/launch/tier4_vehicle_launch/CHANGELOG.rst b/launch/tier4_vehicle_launch/CHANGELOG.rst
index 4823ed84f46f6..1b5a1271e9fe3 100644
--- a/launch/tier4_vehicle_launch/CHANGELOG.rst
+++ b/launch/tier4_vehicle_launch/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package tier4_vehicle_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/launch/tier4_vehicle_launch/package.xml b/launch/tier4_vehicle_launch/package.xml
index ab3e7483c8593..583bbf325db05 100644
--- a/launch/tier4_vehicle_launch/package.xml
+++ b/launch/tier4_vehicle_launch/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_vehicle_launch</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The tier4_vehicle_launch package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <license>Apache License 2.0</license>
diff --git a/localization/autoware_ekf_localizer/CHANGELOG.rst b/localization/autoware_ekf_localizer/CHANGELOG.rst
index 369a731d87ee6..b8e74c530e059 100644
--- a/localization/autoware_ekf_localizer/CHANGELOG.rst
+++ b/localization/autoware_ekf_localizer/CHANGELOG.rst
@@ -2,6 +2,37 @@
 Changelog for package autoware_ekf_localizer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - localization (`#9567 <https://github.com/autowarefoundation/autoware.universe/issues/9567>`_)
+* fix(autoware_ekf_localizer): publish `processing_time_ms` (`#9443 <https://github.com/autowarefoundation/autoware.universe/issues/9443>`_)
+  Fixed to publish processing_time_ms
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_ekf_localizer): remove `timer_tf\_` (`#9244 <https://github.com/autowarefoundation/autoware.universe/issues/9244>`_)
+  Removed timer_tf\_
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, SakodaShintaro, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/localization/autoware_ekf_localizer/package.xml b/localization/autoware_ekf_localizer/package.xml
index d93b4eb1ff016..8dc3cc9844c50 100644
--- a/localization/autoware_ekf_localizer/package.xml
+++ b/localization/autoware_ekf_localizer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_ekf_localizer</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_ekf_localizer package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
diff --git a/localization/autoware_geo_pose_projector/CHANGELOG.rst b/localization/autoware_geo_pose_projector/CHANGELOG.rst
index 717118a5c1692..1b45974da9cc2 100644
--- a/localization/autoware_geo_pose_projector/CHANGELOG.rst
+++ b/localization/autoware_geo_pose_projector/CHANGELOG.rst
@@ -2,6 +2,35 @@
 Changelog for package autoware_geo_pose_projector
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - localization (`#9567 <https://github.com/autowarefoundation/autoware.universe/issues/9567>`_)
+* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 <https://github.com/autowarefoundation/autoware.universe/issues/9392>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/localization/autoware_geo_pose_projector/package.xml b/localization/autoware_geo_pose_projector/package.xml
index 4fecd89630e01..6dda1d6418406 100644
--- a/localization/autoware_geo_pose_projector/package.xml
+++ b/localization/autoware_geo_pose_projector/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_geo_pose_projector</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_geo_pose_projector package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/autoware_gyro_odometer/CHANGELOG.rst b/localization/autoware_gyro_odometer/CHANGELOG.rst
index 950fd01b2ce6f..529fe48f7b459 100644
--- a/localization/autoware_gyro_odometer/CHANGELOG.rst
+++ b/localization/autoware_gyro_odometer/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_gyro_odometer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/localization/autoware_gyro_odometer/package.xml b/localization/autoware_gyro_odometer/package.xml
index b546312ef729e..87474c0b13c0f 100644
--- a/localization/autoware_gyro_odometer/package.xml
+++ b/localization/autoware_gyro_odometer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_gyro_odometer</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_gyro_odometer package as a ROS 2 node</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst
index e8cc6d9f2796e..36d7431a499ff 100644
--- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst
+++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_ar_tag_based_localizer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - localization (`#9567 <https://github.com/autowarefoundation/autoware.universe/issues/9567>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml
index c0ee5cf973001..4aab7e0b5cdaf 100644
--- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml
+++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_ar_tag_based_localizer</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_ar_tag_based_localizer package</description>
   <maintainer email="shintaro.sakoda@tier4.jp">Shintaro Sakoda</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst
index e50f441c27ca5..f6d4cf6766e84 100644
--- a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst
+++ b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_landmark_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - localization (`#9567 <https://github.com/autowarefoundation/autoware.universe/issues/9567>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml
index 357fc2b9eb32c..c33b8a751ce7f 100644
--- a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml
+++ b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_landmark_manager</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_landmark_manager package</description>
   <maintainer email="shintaro.sakoda@tier4.jp">Shintaro Sakoda</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst
index 374bdd1f09901..a7edd5b7d2a69 100644
--- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst
+++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_lidar_marker_localizer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - localization (`#9567 <https://github.com/autowarefoundation/autoware.universe/issues/9567>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml
index 72bded6b2b416..c365f7ef040dc 100755
--- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml
+++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_lidar_marker_localizer</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_lidar_marker_localizer package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="shintaro.sakoda@tier4.jp">Shintaro Sakoda</maintainer>
diff --git a/localization/autoware_localization_error_monitor/CHANGELOG.rst b/localization/autoware_localization_error_monitor/CHANGELOG.rst
index ba263d0f8cb42..e9583916e2e8f 100644
--- a/localization/autoware_localization_error_monitor/CHANGELOG.rst
+++ b/localization/autoware_localization_error_monitor/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_localization_error_monitor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/localization/autoware_localization_error_monitor/package.xml b/localization/autoware_localization_error_monitor/package.xml
index 937d4e71bc717..f7f9e635e85d6 100644
--- a/localization/autoware_localization_error_monitor/package.xml
+++ b/localization/autoware_localization_error_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_localization_error_monitor</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>ros node for monitoring localization error</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/autoware_localization_util/CHANGELOG.rst b/localization/autoware_localization_util/CHANGELOG.rst
index d029d05144595..be40e3ee8560e 100644
--- a/localization/autoware_localization_util/CHANGELOG.rst
+++ b/localization/autoware_localization_util/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_localization_util
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - localization (`#9567 <https://github.com/autowarefoundation/autoware.universe/issues/9567>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/localization/autoware_localization_util/package.xml b/localization/autoware_localization_util/package.xml
index ea22ffe59ce64..89ad7c24840dd 100644
--- a/localization/autoware_localization_util/package.xml
+++ b/localization/autoware_localization_util/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_localization_util</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_localization_util package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/autoware_ndt_scan_matcher/CHANGELOG.rst b/localization/autoware_ndt_scan_matcher/CHANGELOG.rst
index 096804e155328..8040641aa2cef 100644
--- a/localization/autoware_ndt_scan_matcher/CHANGELOG.rst
+++ b/localization/autoware_ndt_scan_matcher/CHANGELOG.rst
@@ -2,6 +2,71 @@
 Changelog for package autoware_ndt_scan_matcher
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - localization (`#9567 <https://github.com/autowarefoundation/autoware.universe/issues/9567>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(autoware_ndt_scan_matcher): remove unsed functions (`#9387 <https://github.com/autowarefoundation/autoware.universe/issues/9387>`_)
+* perf(autoware_ndt_scan_matcher): remove evecs\_, evals\_ of Leaf for memory efficiency (`#9281 <https://github.com/autowarefoundation/autoware.universe/issues/9281>`_)
+  * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 <https://github.com/autowarefoundation/autoware.universe/issues/9279>`_)
+  fix computation of maximum lane changing length threshold
+  * perf: remove evecs, evals from Leaf
+  * perf: remove evecs, evals from Leaf
+  ---------
+  Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_ndt_scan_matcher): fix cppcheck unusedFunction (`#9275 <https://github.com/autowarefoundation/autoware.universe/issues/9275>`_)
+* fix(autoware_ndt_scan_matcher): reduce initial_pose_estimation.particles_num from 200 to 100 on tests (`#9218 <https://github.com/autowarefoundation/autoware.universe/issues/9218>`_)
+  Reduced initial_pose_estimation.particles_num from 200 to 100 on tests
+* refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 <https://github.com/autowarefoundation/autoware.universe/issues/8912>`_)
+  * Moved ndt_omp into ndt_scan_matcher
+  * Added Copyright
+  * style(pre-commit): autofix
+  * Fixed include
+  * Fixed cast style
+  * Fixed include
+  * Fixed honorific title
+  * Fixed honorific title
+  * style(pre-commit): autofix
+  * Fixed include hierarchy
+  * style(pre-commit): autofix
+  * Fixed include hierarchy
+  * style(pre-commit): autofix
+  * Fixed hierarchy
+  * Fixed NVTP to NVTL
+  * Added cspell:ignore
+  * Fixed miss spell
+  * style(pre-commit): autofix
+  * Fixed include
+  * Renamed applyFilter
+  * Moved ***_impl.hpp from include/ to src/
+  * style(pre-commit): autofix
+  * Fixed variable scope
+  * Fixed to pass by reference
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kento Osa, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, SakodaShintaro, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/localization/autoware_ndt_scan_matcher/package.xml b/localization/autoware_ndt_scan_matcher/package.xml
index 96c73f248a595..f2047418310aa 100644
--- a/localization/autoware_ndt_scan_matcher/package.xml
+++ b/localization/autoware_ndt_scan_matcher/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_ndt_scan_matcher</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_ndt_scan_matcher package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
diff --git a/localization/autoware_pose2twist/CHANGELOG.rst b/localization/autoware_pose2twist/CHANGELOG.rst
index dcabfddfd2256..3f17982f52f31 100644
--- a/localization/autoware_pose2twist/CHANGELOG.rst
+++ b/localization/autoware_pose2twist/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_pose2twist
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/localization/autoware_pose2twist/package.xml b/localization/autoware_pose2twist/package.xml
index 9e7ec378c8570..3fd16856ef6af 100644
--- a/localization/autoware_pose2twist/package.xml
+++ b/localization/autoware_pose2twist/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_pose2twist</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_pose2twist package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/autoware_pose_covariance_modifier/CHANGELOG.rst b/localization/autoware_pose_covariance_modifier/CHANGELOG.rst
index b3c5fdc70f36a..6fc366d3d01d5 100644
--- a/localization/autoware_pose_covariance_modifier/CHANGELOG.rst
+++ b/localization/autoware_pose_covariance_modifier/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_pose_covariance_modifier
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - localization (`#9567 <https://github.com/autowarefoundation/autoware.universe/issues/9567>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/localization/autoware_pose_covariance_modifier/package.xml b/localization/autoware_pose_covariance_modifier/package.xml
index 2490fdc43dc0a..7825bd59b78f9 100644
--- a/localization/autoware_pose_covariance_modifier/package.xml
+++ b/localization/autoware_pose_covariance_modifier/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_pose_covariance_modifier</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Add a description.</description>
 
   <maintainer email="melike@leodrive.ai">Melike Tanrikulu</maintainer>
diff --git a/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst b/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst
index 423a73677c311..381b77546e008 100644
--- a/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst
+++ b/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst
@@ -2,6 +2,33 @@
 Changelog for package autoware_pose_estimator_arbiter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - localization (`#9567 <https://github.com/autowarefoundation/autoware.universe/issues/9567>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(autoware_pose_estimator_arbiter): add missing include (`#9376 <https://github.com/autowarefoundation/autoware.universe/issues/9376>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/localization/autoware_pose_estimator_arbiter/package.xml b/localization/autoware_pose_estimator_arbiter/package.xml
index cf30e8fcb5ef6..c6a47ae5755b3 100644
--- a/localization/autoware_pose_estimator_arbiter/package.xml
+++ b/localization/autoware_pose_estimator_arbiter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_pose_estimator_arbiter</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The arbiter of multiple pose estimators</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
diff --git a/localization/autoware_pose_initializer/CHANGELOG.rst b/localization/autoware_pose_initializer/CHANGELOG.rst
index ca509039af804..45473a9444270 100644
--- a/localization/autoware_pose_initializer/CHANGELOG.rst
+++ b/localization/autoware_pose_initializer/CHANGELOG.rst
@@ -2,6 +2,34 @@
 Changelog for package autoware_pose_initializer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - localization (`#9567 <https://github.com/autowarefoundation/autoware.universe/issues/9567>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/localization/autoware_pose_initializer/package.xml b/localization/autoware_pose_initializer/package.xml
index e23a319e2ac2b..eeeb46a8db3e5 100644
--- a/localization/autoware_pose_initializer/package.xml
+++ b/localization/autoware_pose_initializer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_pose_initializer</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_pose_initializer package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
diff --git a/localization/autoware_pose_instability_detector/CHANGELOG.rst b/localization/autoware_pose_instability_detector/CHANGELOG.rst
index a02f1443d97e1..b95dcaf6f01c8 100644
--- a/localization/autoware_pose_instability_detector/CHANGELOG.rst
+++ b/localization/autoware_pose_instability_detector/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_pose_instability_detector
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - localization (`#9567 <https://github.com/autowarefoundation/autoware.universe/issues/9567>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/localization/autoware_pose_instability_detector/package.xml b/localization/autoware_pose_instability_detector/package.xml
index 2c982e30ca8d8..91a565446f9e9 100644
--- a/localization/autoware_pose_instability_detector/package.xml
+++ b/localization/autoware_pose_instability_detector/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_pose_instability_detector</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_pose_instability_detector package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
diff --git a/localization/autoware_stop_filter/CHANGELOG.rst b/localization/autoware_stop_filter/CHANGELOG.rst
index 30e5b6169c154..f91a3b8de7f05 100644
--- a/localization/autoware_stop_filter/CHANGELOG.rst
+++ b/localization/autoware_stop_filter/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_stop_filter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/localization/autoware_stop_filter/package.xml b/localization/autoware_stop_filter/package.xml
index 07ad7288c9d63..1ed5e2c2082be 100644
--- a/localization/autoware_stop_filter/package.xml
+++ b/localization/autoware_stop_filter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_stop_filter</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The stop filter package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/autoware_twist2accel/CHANGELOG.rst b/localization/autoware_twist2accel/CHANGELOG.rst
index ea50813677005..89b22e6ae4f26 100644
--- a/localization/autoware_twist2accel/CHANGELOG.rst
+++ b/localization/autoware_twist2accel/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_twist2accel
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/localization/autoware_twist2accel/package.xml b/localization/autoware_twist2accel/package.xml
index 538a75f8f9474..75cea94546516 100644
--- a/localization/autoware_twist2accel/package.xml
+++ b/localization/autoware_twist2accel/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_twist2accel</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The acceleration estimation package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/yabloc/yabloc_common/CHANGELOG.rst b/localization/yabloc/yabloc_common/CHANGELOG.rst
index 7cdbceeb5a6a5..6812e5ca633ca 100644
--- a/localization/yabloc/yabloc_common/CHANGELOG.rst
+++ b/localization/yabloc/yabloc_common/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package yabloc_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - localization (`#9567 <https://github.com/autowarefoundation/autoware.universe/issues/9567>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/localization/yabloc/yabloc_common/package.xml b/localization/yabloc/yabloc_common/package.xml
index 01b5a92745c3f..5a8f19ff16bd7 100644
--- a/localization/yabloc/yabloc_common/package.xml
+++ b/localization/yabloc/yabloc_common/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>yabloc_common</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>YabLoc common library</description>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/yabloc/yabloc_image_processing/CHANGELOG.rst b/localization/yabloc/yabloc_image_processing/CHANGELOG.rst
index f6e619c8a62a6..bf4c1279fffdc 100644
--- a/localization/yabloc/yabloc_image_processing/CHANGELOG.rst
+++ b/localization/yabloc/yabloc_image_processing/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package yabloc_image_processing
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - localization (`#9567 <https://github.com/autowarefoundation/autoware.universe/issues/9567>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/localization/yabloc/yabloc_image_processing/package.xml b/localization/yabloc/yabloc_image_processing/package.xml
index 746e01f8e9841..c3202e8bfaebf 100644
--- a/localization/yabloc/yabloc_image_processing/package.xml
+++ b/localization/yabloc/yabloc_image_processing/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>yabloc_image_processing</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>YabLoc image processing package</description>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/yabloc/yabloc_monitor/CHANGELOG.rst b/localization/yabloc/yabloc_monitor/CHANGELOG.rst
index ea890d490ccfb..c7cb3c7dc307d 100644
--- a/localization/yabloc/yabloc_monitor/CHANGELOG.rst
+++ b/localization/yabloc/yabloc_monitor/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package yabloc_monitor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/localization/yabloc/yabloc_monitor/package.xml b/localization/yabloc/yabloc_monitor/package.xml
index ea7ce24f5da7c..1a0dbb6c7fdfa 100644
--- a/localization/yabloc/yabloc_monitor/package.xml
+++ b/localization/yabloc/yabloc_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>yabloc_monitor</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>YabLoc monitor package</description>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst b/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst
index 973e729089d7b..935aecb810449 100644
--- a/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst
+++ b/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package yabloc_particle_filter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - localization (`#9567 <https://github.com/autowarefoundation/autoware.universe/issues/9567>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/localization/yabloc/yabloc_particle_filter/package.xml b/localization/yabloc/yabloc_particle_filter/package.xml
index ac5ba4d30bb8a..074ff19334852 100644
--- a/localization/yabloc/yabloc_particle_filter/package.xml
+++ b/localization/yabloc/yabloc_particle_filter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>yabloc_particle_filter</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>YabLoc particle filter package</description>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst b/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst
index 2bae9b010e7f0..0b78a98bf07fd 100644
--- a/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst
+++ b/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst
@@ -2,6 +2,33 @@
 Changelog for package yabloc_pose_initializer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - localization (`#9567 <https://github.com/autowarefoundation/autoware.universe/issues/9567>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(yabloc_pose_initializer): include opencv as system (`#9375 <https://github.com/autowarefoundation/autoware.universe/issues/9375>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/localization/yabloc/yabloc_pose_initializer/package.xml b/localization/yabloc/yabloc_pose_initializer/package.xml
index 77fc397d207d4..4fd346f6327ad 100644
--- a/localization/yabloc/yabloc_pose_initializer/package.xml
+++ b/localization/yabloc/yabloc_pose_initializer/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>yabloc_pose_initializer</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The pose initializer</description>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/map/autoware_lanelet2_map_visualizer/CHANGELOG.rst b/map/autoware_lanelet2_map_visualizer/CHANGELOG.rst
new file mode 100644
index 0000000000000..3d95ca5f804b2
--- /dev/null
+++ b/map/autoware_lanelet2_map_visualizer/CHANGELOG.rst
@@ -0,0 +1,465 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package autoware_lanelet2_map_visualizer
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 <https://github.com/autowarefoundation/autoware.universe/issues/9392>`_)
+* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 <https://github.com/autowarefoundation/autoware.universe/issues/8927>`_)
+  * make lanelet2_map_visualization independent
+  * remove unused files
+  * remove unused package
+  * fix package name
+  * add autoware\_ prefix
+  * add autoware to exec name
+  * add autoware prefix
+  * removed unnecessary dependency
+  ---------
+* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 <https://github.com/autowarefoundation/autoware.universe/issues/8927>`_)
+  * make lanelet2_map_visualization independent
+  * remove unused files
+  * remove unused package
+  * fix package name
+  * add autoware\_ prefix
+  * add autoware to exec name
+  * add autoware prefix
+  * removed unnecessary dependency
+  ---------
+* Contributors: Fumiya Watanabe, Masaki Baba, Ryohsuke Mitsudome
+
+* Merge branch 'main' into release-0.40.0
+* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 <https://github.com/autowarefoundation/autoware.universe/issues/9392>`_)
+* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 <https://github.com/autowarefoundation/autoware.universe/issues/8927>`_)
+  * make lanelet2_map_visualization independent
+  * remove unused files
+  * remove unused package
+  * fix package name
+  * add autoware\_ prefix
+  * add autoware to exec name
+  * add autoware prefix
+  * removed unnecessary dependency
+  ---------
+* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 <https://github.com/autowarefoundation/autoware.universe/issues/8927>`_)
+  * make lanelet2_map_visualization independent
+  * remove unused files
+  * remove unused package
+  * fix package name
+  * add autoware\_ prefix
+  * add autoware to exec name
+  * add autoware prefix
+  * removed unnecessary dependency
+  ---------
+* Contributors: Fumiya Watanabe, Masaki Baba, Ryohsuke Mitsudome
+
+0.39.0 (2024-11-25)
+-------------------
+* chore(package.xml): bump version to 0.39.0 (`#9435 <https://github.com/autowarefoundation/autoware.universe/issues/9435>`_)
+  * chore: update CODEOWNERS (`#9203 <https://github.com/autowarefoundation/autoware.universe/issues/9203>`_)
+  Co-authored-by: github-actions <github-actions@github.com>
+  * refactor(time_utils): prefix package and namespace with autoware (`#9173 <https://github.com/autowarefoundation/autoware.universe/issues/9173>`_)
+  * refactor(time_utils): prefix package and namespace with autoware
+  * refactor(time_utils): prefix package and namespace with autoware
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  * feat(rtc_interface): add requested field (`#9202 <https://github.com/autowarefoundation/autoware.universe/issues/9202>`_)
+  * add requested feature
+  * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp
+  Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
+  ---------
+  Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
+  * fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (`#9199 <https://github.com/autowarefoundation/autoware.universe/issues/9199>`_)
+  * fix(bpp): prevent accessing nullopt (`#9204 <https://github.com/autowarefoundation/autoware.universe/issues/9204>`_)
+  fix(bpp): calcDistanceToRedTrafficLight null
+  * refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 <https://github.com/autowarefoundation/autoware.universe/issues/9201>`_)
+  * refactor: grouping functions
+  * refactor: grouping parameters
+  * refactor: rename member road_users_history to road_users_history\_
+  * refactor: separate util functions
+  * refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node
+  * refactor: Add explicit template instantiation for removeOldObjectsHistory function
+  * refactor: Add tf2_geometry_msgs to data_structure
+  * refactor: Remove unused variables and functions in map_based_prediction_node.cpp
+  * Update perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp
+  * Apply suggestions from code review
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com>
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  * refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 <https://github.com/autowarefoundation/autoware.universe/issues/8912>`_)
+  * Moved ndt_omp into ndt_scan_matcher
+  * Added Copyright
+  * style(pre-commit): autofix
+  * Fixed include
+  * Fixed cast style
+  * Fixed include
+  * Fixed honorific title
+  * Fixed honorific title
+  * style(pre-commit): autofix
+  * Fixed include hierarchy
+  * style(pre-commit): autofix
+  * Fixed include hierarchy
+  * style(pre-commit): autofix
+  * Fixed hierarchy
+  * Fixed NVTP to NVTL
+  * Added cspell:ignore
+  * Fixed miss spell
+  * style(pre-commit): autofix
+  * Fixed include
+  * Renamed applyFilter
+  * Moved ***_impl.hpp from include/ to src/
+  * style(pre-commit): autofix
+  * Fixed variable scope
+  * Fixed to pass by reference
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  * feat(autoware_test_utils): add traffic light msgs parser (`#9177 <https://github.com/autowarefoundation/autoware.universe/issues/9177>`_)
+  * fix(rtc_interface): update requested field for every cooperateStatus state (`#9211 <https://github.com/autowarefoundation/autoware.universe/issues/9211>`_)
+  * fix rtc_interface
+  * fix test condition
+  ---------
+  * feat(static_obstacle_avoidance): operator request for ambiguous vehicle (`#9205 <https://github.com/autowarefoundation/autoware.universe/issues/9205>`_)
+  * add operator request feature
+  * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
+  Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
+  ---------
+  Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
+  * feat(collision_detector): use polling subscriber (`#9213 <https://github.com/autowarefoundation/autoware.universe/issues/9213>`_)
+  use polling subscriber
+  * fix(diagnostic_graph_utils): reset graph when new one is received (`#9208 <https://github.com/autowarefoundation/autoware.universe/issues/9208>`_)
+  fix(diagnostic_graph_utils): reset graph when new one is reveived
+  * fix(autoware_ndt_scan_matcher): reduce initial_pose_estimation.particles_num from 200 to 100 on tests (`#9218 <https://github.com/autowarefoundation/autoware.universe/issues/9218>`_)
+  Reduced initial_pose_estimation.particles_num from 200 to 100 on tests
+  * feat(control_launch): add collision detector in launch (`#9214 <https://github.com/autowarefoundation/autoware.universe/issues/9214>`_)
+  add collision detector in launch
+  * chore(obstacle_cruise_planner): add function tests for a utils function (`#9206 <https://github.com/autowarefoundation/autoware.universe/issues/9206>`_)
+  * add utils test
+  ---------
+  * fix(bvp): remove expired module safely (`#9212 <https://github.com/autowarefoundation/autoware.universe/issues/9212>`_)
+  * fix(bvp): remove expired module safely
+  * fix: remove module id set
+  * fix: use itr to erase expired module
+  * fix: remove unused function
+  ---------
+  * test(bpp_common): add unit test for safety check (`#9223 <https://github.com/autowarefoundation/autoware.universe/issues/9223>`_)
+  * add test for object collision
+  * add test for more functions
+  * add docstring
+  * fix lane change
+  ---------
+  * fix(autoware_behavior_path_goal_planner_module): fix cppcheck unreadVariable (`#9192 <https://github.com/autowarefoundation/autoware.universe/issues/9192>`_)
+  * fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9229 <https://github.com/autowarefoundation/autoware.universe/issues/9229>`_)
+  * fix: bugprone-misplaced-widening-cast
+  * fix: clang-format
+  ---------
+  * fix(autoware_euclidean_cluster): fix bugprone-misplaced-widening-cast (`#9227 <https://github.com/autowarefoundation/autoware.universe/issues/9227>`_)
+  fix: bugprone-misplaced-widening-cast
+  * fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9226 <https://github.com/autowarefoundation/autoware.universe/issues/9226>`_)
+  * fix: bugprone-misplaced-widening-cast
+  * fix: clang-format
+  ---------
+  * fix(autoware_compare_map_segmentation): fix cppcheck constVariableReference (`#9196 <https://github.com/autowarefoundation/autoware.universe/issues/9196>`_)
+  * refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+  * fix(autoware_behavior_velocity_no_stopping_area_module): fix cppcheck knownConditionTrueFalse (`#9189 <https://github.com/autowarefoundation/autoware.universe/issues/9189>`_)
+  * fix(autoware_freespace_planning_algorithms): fix bugprone-unused-raii (`#9230 <https://github.com/autowarefoundation/autoware.universe/issues/9230>`_)
+  fix: bugprone-unused-raii
+  * refactor(map_based_prediction): divide objectsCallback (`#9219 <https://github.com/autowarefoundation/autoware.universe/issues/9219>`_)
+  * refactor(map_based_prediction): move member functions to utils (`#9225 <https://github.com/autowarefoundation/autoware.universe/issues/9225>`_)
+  * test(crosswalk): add unit test (`#9228 <https://github.com/autowarefoundation/autoware.universe/issues/9228>`_)
+  * fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-incorrect-roundings (`#9221 <https://github.com/autowarefoundation/autoware.universe/issues/9221>`_)
+  fix: bugprone-incorrect-roundings
+  * refactor(cuda_utils): prefix package and namespace with autoware (`#9171 <https://github.com/autowarefoundation/autoware.universe/issues/9171>`_)
+  * fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback (`#9234 <https://github.com/autowarefoundation/autoware.universe/issues/9234>`_)
+  * feat(autoware_motion_utils): add new trajectory class (`#8693 <https://github.com/autowarefoundation/autoware.universe/issues/8693>`_)
+  * feat(autoware_motion_utils): add interpolator
+  * use int32_t instead of int
+  * use int32_t instead of int
+  * use int32_t instead of int
+  * add const as much as possible and use `at()` in `vector`
+  * fix directory name
+  * refactor code and add example
+  * update
+  * remove unused include
+  * refactor code
+  * add clone function
+  * fix stairstep
+  * make constructor to public
+  * feat(autoware_motion_utils): add trajectory class
+  * Update CMakeLists.txt
+  * fix
+  * fix package.xml
+  * update crop
+  * revert crtp change
+  * update package.xml
+  * updating...
+  * update
+  * solve build problem
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  * fix(autoware_image_projection_based_fusion): make optional to consider lens distortion in the point projection (`#9233 <https://github.com/autowarefoundation/autoware.universe/issues/9233>`_)
+  chore: add point_project_to_unrectified_image parameter to fusion_common.param.yaml
+  * feat(autoware_test_utils): add general topic dumper (`#9207 <https://github.com/autowarefoundation/autoware.universe/issues/9207>`_)
+  * fix(autoware_ekf_localizer): remove `timer_tf\_` (`#9244 <https://github.com/autowarefoundation/autoware.universe/issues/9244>`_)
+  Removed timer_tf\_
+  * fix(autoware_rtc_interface): fix dependency (`#9237 <https://github.com/autowarefoundation/autoware.universe/issues/9237>`_)
+  * fix(autonomous_emergency_braking): solve issue with arc length (`#9247 <https://github.com/autowarefoundation/autoware.universe/issues/9247>`_)
+  * solve issue with arc length
+  * fix problem with points one vehicle apart from path
+  ---------
+  * fix(autoware_lidar_apollo_instance_segmentation): fix cppcheck suspiciousFloatingPointCast (`#9195 <https://github.com/autowarefoundation/autoware.universe/issues/9195>`_)
+  * fix(autoware_behavior_path_sampling_planner_module): fix cppcheck unusedVariable (`#9190 <https://github.com/autowarefoundation/autoware.universe/issues/9190>`_)
+  * refactor(qp_interface): prefix package and namespace with autoware (`#9236 <https://github.com/autowarefoundation/autoware.universe/issues/9236>`_)
+  * chore(autoware_geography_utils): update maintainers (`#9246 <https://github.com/autowarefoundation/autoware.universe/issues/9246>`_)
+  * update maintainers
+  * add author
+  ---------
+  * fix(lane_change): enable cancel when ego in turn direction lane (`#9124 <https://github.com/autowarefoundation/autoware.universe/issues/9124>`_)
+  * RT0-33893 add checks from prev intersection
+  * fix shadow variable
+  * fix logic
+  * update readme
+  * refactor get_ego_footprint
+  ---------
+  * fix(out_of_lane): correct calculations of the stop pose (`#9209 <https://github.com/autowarefoundation/autoware.universe/issues/9209>`_)
+  * fix(autoware_pointcloud_preprocessor): launch file load parameter from yaml (`#8129 <https://github.com/autowarefoundation/autoware.universe/issues/8129>`_)
+  * feat: fix launch file
+  * chore: fix spell error
+  * chore: fix parameters file name
+  * chore: remove filter base
+  ---------
+  * fix: missing dependency in common components (`#9072 <https://github.com/autowarefoundation/autoware.universe/issues/9072>`_)
+  * feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 <https://github.com/autowarefoundation/autoware.universe/issues/9253>`_)
+  * create trajectory container package
+  * update
+  * update
+  * style(pre-commit): autofix
+  * update codeowner
+  * update
+  * fix cmake
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  * fix(autoware_pointcloud_preprocessor): fix the wrong naming of crop box parameter file  (`#9258 <https://github.com/autowarefoundation/autoware.universe/issues/9258>`_)
+  fix: fix the wrong file name
+  * fix(dummy_diag_publisher): not use diagnostic_updater and param callback (`#9257 <https://github.com/autowarefoundation/autoware.universe/issues/9257>`_)
+  * fix(dummy_diag_publisher): not use diagnostic_updater and param callback for v0.29.0 (`#1414 <https://github.com/autowarefoundation/autoware.universe/issues/1414>`_)
+  fix(dummy_diag_publisher): not use diagnostic_updater and param callback
+  Co-authored-by: h-ohta <hiroki.ota@tier4.jp>
+  * fix: resolve build error of dummy diag publisher (`#1415 <https://github.com/autowarefoundation/autoware.universe/issues/1415>`_)
+  fix merge conflict
+  ---------
+  Co-authored-by: Shohei Sakai <saka1s.jp@gmail.com>
+  Co-authored-by: h-ohta <hiroki.ota@tier4.jp>
+  * test(behavior_path_planner_common): add unit test for path shifter (`#9239 <https://github.com/autowarefoundation/autoware.universe/issues/9239>`_)
+  * add unit test for path shifter
+  * fix unnecessary modification
+  * fix spelling mistake
+  * add docstring
+  ---------
+  * feat(system_monitor): support loopback network interface (`#9067 <https://github.com/autowarefoundation/autoware.universe/issues/9067>`_)
+  * feat(system_monitor): support loopback network interface
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  * feat(autoware_trajectory): change interface of InterpolatedArray (`#9264 <https://github.com/autowarefoundation/autoware.universe/issues/9264>`_)
+  change interface of InterpolateArray
+  * feat(system_monitor): add on/off config for network traffic monitor (`#9069 <https://github.com/autowarefoundation/autoware.universe/issues/9069>`_)
+  * feat(system_monitor): add config for network traffic monitor
+  * fix: change function name from stop to skip
+  ---------
+  * feat(detection_area)!: add retruction feature (`#9255 <https://github.com/autowarefoundation/autoware.universe/issues/9255>`_)
+  * fix(vehicle_cmd_gate): fix processing time measurement (`#9260 <https://github.com/autowarefoundation/autoware.universe/issues/9260>`_)
+  * fix(bvp): use polling subscriber (`#9242 <https://github.com/autowarefoundation/autoware.universe/issues/9242>`_)
+  * fix(bvp): use polling subscriber
+  * fix: use newest policy
+  ---------
+  * refactor(lane_change): remove std::optional from lanes polygon (`#9267 <https://github.com/autowarefoundation/autoware.universe/issues/9267>`_)
+  * fix(bpp): prevent accessing nullopt (`#9269 <https://github.com/autowarefoundation/autoware.universe/issues/9269>`_)
+  * refactor(lane_change): revert "remove std::optional from lanes polygon" (`#9272 <https://github.com/autowarefoundation/autoware.universe/issues/9272>`_)
+  Revert "refactor(lane_change): remove std::optional from lanes polygon (`#9267 <https://github.com/autowarefoundation/autoware.universe/issues/9267>`_)"
+  This reverts commit 0c70ea8793985c6aae90f851eeffdd2561fe04b3.
+  * feat(goal_planner): sort candidate path only when num to avoid is different (`#9271 <https://github.com/autowarefoundation/autoware.universe/issues/9271>`_)
+  * fix(/autoware_freespace_planning_algorithms): fix cppcheck unusedFunction (`#9274 <https://github.com/autowarefoundation/autoware.universe/issues/9274>`_)
+  * fix(autoware_behavior_path_start_planner_module): fix cppcheck unreadVariable (`#9277 <https://github.com/autowarefoundation/autoware.universe/issues/9277>`_)
+  * fix(autoware_ndt_scan_matcher): fix cppcheck unusedFunction (`#9275 <https://github.com/autowarefoundation/autoware.universe/issues/9275>`_)
+  * fix(autoware_pure_pursuit): fix cppcheck unusedFunction (`#9276 <https://github.com/autowarefoundation/autoware.universe/issues/9276>`_)
+  * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 <https://github.com/autowarefoundation/autoware.universe/issues/9279>`_)
+  fix computation of maximum lane changing length threshold
+  * feat(aeb): set global param to override autoware state check (`#9263 <https://github.com/autowarefoundation/autoware.universe/issues/9263>`_)
+  * set global param to override autoware state check
+  * change variable to be more general
+  * add comment
+  * move param to control component launch
+  * change param name to be more straightforward
+  ---------
+  * fix(autoware_default_adapi): change subscribing steering factor topic name for obstacle avoidance and lane changes (`#9273 <https://github.com/autowarefoundation/autoware.universe/issues/9273>`_)
+  feat(planning): add new steering factor topics for obstacle avoidance and lane changes
+  * chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+  * fix(lane_change): extending lane change path for multiple lane change (RT1-8427) (`#9268 <https://github.com/autowarefoundation/autoware.universe/issues/9268>`_)
+  * RT1-8427 extending lc path for multiple lc
+  * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
+  Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
+  ---------
+  Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
+  * fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation (`#8995 <https://github.com/autowarefoundation/autoware.universe/issues/8995>`_)
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
+  * fix(behavior_path_planner_common): use boost intersects instead of overlaps (`#9289 <https://github.com/autowarefoundation/autoware.universe/issues/9289>`_)
+  * fix(behavior_path_planner_common): use boost intersects instead of overlaps
+  * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp
+  Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com>
+  ---------
+  Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com>
+  * ci(.github): update image tags (`#9286 <https://github.com/autowarefoundation/autoware.universe/issues/9286>`_)
+  * refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 <https://github.com/autowarefoundation/autoware.universe/issues/9250>`_)
+  * refactor(autoware_ad_api_specs): prefix package and namespace with autoware
+  * style(pre-commit): autofix
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * style(pre-commit): autofix
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  * chore(autoware_traffic_light*): add maintainer (`#9280 <https://github.com/autowarefoundation/autoware.universe/issues/9280>`_)
+  * add fundamental commit
+  * add forgot package
+  ---------
+  * fix(autoware_mpc_lateral_controller): fix bugprone-misplaced-widening-cast (`#9224 <https://github.com/autowarefoundation/autoware.universe/issues/9224>`_)
+  * fix: bugprone-misplaced-widening-cast
+  * fix: consider negative values
+  ---------
+  * fix(autoware_detected_object_validation): fix clang-diagnostic-error (`#9215 <https://github.com/autowarefoundation/autoware.universe/issues/9215>`_)
+  fix: clang-c-error
+  * fix(autoware_detected_object_validation): fix bugprone-incorrect-roundings (`#9220 <https://github.com/autowarefoundation/autoware.universe/issues/9220>`_)
+  fix: bugprone-incorrect-roundings
+  * feat(autoware_test_utils): use sample_vehicle/sample_sensor_kit (`#9290 <https://github.com/autowarefoundation/autoware.universe/issues/9290>`_)
+  * refactor(lane_change): remove std::optional from lanes polygon (`#9288 <https://github.com/autowarefoundation/autoware.universe/issues/9288>`_)
+  * feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 <https://github.com/autowarefoundation/autoware.universe/issues/9180>`_)
+  * first commit
+  * fix building errs.
+  * change diagnostic messages to metric messages for publishing decision.
+  * fix bug about motion_velocity_planner
+  * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner.
+  * tmp save for planning_evaluator
+  * change the topic to which metrics published to.
+  * fix typo.
+  * remove unnesessary publishing of metrics.
+  * mke planning_evaluator publish msg of MetricArray instead of Diags.
+  * update aeb with metric type for decision.
+  * fix some bug
+  * remove autoware_evaluator_utils package.
+  * remove diagnostic_msgs dependency of planning_evaluator
+  * use metric_msgs for autoware_processing_time_checker.
+  * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs.
+  * pre-commit and fix typo
+  * publish metrics even if there is no metric in the MetricArray.
+  * modify the metric name of processing_time.
+  * update unit test for test_planning/control_evaluator
+  * manual pre-commit
+  ---------
+  * feat(diagnostic_graph_aggregator): implement diagnostic graph dump functionality (`#9261 <https://github.com/autowarefoundation/autoware.universe/issues/9261>`_)
+  * chore(tvm_utility): remove tvm_utility package as it is no longer used (`#9291 <https://github.com/autowarefoundation/autoware.universe/issues/9291>`_)
+  * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+  * perf(autoware_ndt_scan_matcher): remove evecs\_, evals\_ of Leaf for memory efficiency (`#9281 <https://github.com/autowarefoundation/autoware.universe/issues/9281>`_)
+  * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 <https://github.com/autowarefoundation/autoware.universe/issues/9279>`_)
+  fix computation of maximum lane changing length threshold
+  * perf: remove evecs, evals from Leaf
+  * perf: remove evecs, evals from Leaf
+  ---------
+  Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
+  * test(costmap_generator): unit test implementation for costmap generator (`#9149 <https://github.com/autowarefoundation/autoware.universe/issues/9149>`_)
+  * modify costmap generator directory structure
+  * rename class CostmapGenerator to CostmapGeneratorNode
+  * unit test for object_map_utils
+  * catch error from lookupTransform
+  * use polling subscriber in costmap generator node
+  * add test for costmap generator node
+  * add test for isActive()
+  * revert unnecessary changes
+  * remove commented out line
+  * minor fix
+  * Update planning/autoware_costmap_generator/src/costmap_generator.cpp
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  ---------
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  * fix(control): missing dependency in control components (`#9073 <https://github.com/autowarefoundation/autoware.universe/issues/9073>`_)
+  * test(autoware_control_evaluator): add unit test for utils autoware_control_evaluator (`#9307 <https://github.com/autowarefoundation/autoware.universe/issues/9307>`_)
+  * update unit test of control_evaluator.
+  * manual pre-commit.
+  ---------
+  * fix(collision_detector): skip process when odometry is not published (`#9308 <https://github.com/autowarefoundation/autoware.universe/issues/9308>`_)
+  * subscribe odometry
+  * fix precommit
+  * remove unnecessary log info
+  ---------
+  * feat(goal_planner): safety check with only parking path (`#9293 <https://github.com/autowarefoundation/autoware.universe/issues/9293>`_)
+  * refactor(goal_planner): remove reference_goal_pose getter/setter (`#9270 <https://github.com/autowarefoundation/autoware.universe/issues/9270>`_)
+  * feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 <https://github.com/autowarefoundation/autoware.universe/issues/9309>`_)
+  speed up by updating polygons
+  * fix(autoware_trajectory): fix bug of autoware_trajectory (`#9314 <https://github.com/autowarefoundation/autoware.universe/issues/9314>`_)
+  * feat(autoware_trajectory): change default value of min_points (`#9315 <https://github.com/autowarefoundation/autoware.universe/issues/9315>`_)
+  * chore(codecov): update maintained packages (`#9316 <https://github.com/autowarefoundation/autoware.universe/issues/9316>`_)
+  * doc: fix links to design documents (`#9301 <https://github.com/autowarefoundation/autoware.universe/issues/9301>`_)
+  * fix(costmap_generator): use vehicle frame for lidar height thresholds (`#9311 <https://github.com/autowarefoundation/autoware.universe/issues/9311>`_)
+  * fix(tier4_dummy_object_rviz_plugin): fix missing dependency (`#9306 <https://github.com/autowarefoundation/autoware.universe/issues/9306>`_)
+  * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+  * add changelog
+  * update changelog
+  * fix version
+  * 0.39.0
+  * refactor(map_loader)!: prefix package and namespace with autoware (`#8927 <https://github.com/autowarefoundation/autoware.universe/issues/8927>`_)
+  * make lanelet2_map_visualization independent
+  * remove unused files
+  * remove unused package
+  * fix package name
+  * add autoware\_ prefix
+  * add autoware to exec name
+  * add autoware prefix
+  * removed unnecessary dependency
+  ---------
+  * update version
+  ---------
+  Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com>
+  Co-authored-by: github-actions <github-actions@github.com>
+  Co-authored-by: Esteve Fernandez <33620+esteve@users.noreply.github.com>
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com>
+  Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
+  Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
+  Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
+  Co-authored-by: Taekjin LEE <taekjin.lee@tier4.jp>
+  Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com>
+  Co-authored-by: SakodaShintaro <shintaro.sakoda@tier4.jp>
+  Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
+  Co-authored-by: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
+  Co-authored-by: Ryuta Kambe <ryuta.kambe@tier4.jp>
+  Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com>
+  Co-authored-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>
+  Co-authored-by: danielsanchezaran <daniel.sanchez@tier4.jp>
+  Co-authored-by: Yamato Ando <yamato.ando@gmail.com>
+  Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
+  Co-authored-by: Yi-Hsiang Fang (Vivid) <146902905+vividf@users.noreply.github.com>
+  Co-authored-by: ぐるぐる <f0reach@f0reach.me>
+  Co-authored-by: Shohei Sakai <saka1s.jp@gmail.com>
+  Co-authored-by: h-ohta <hiroki.ota@tier4.jp>
+  Co-authored-by: iwatake <take.iwiw2222@gmail.com>
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
+  Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
+  Co-authored-by: Giovanni Muhammad Raditya <mraditya01@yahoo.com>
+  Co-authored-by: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com>
+  Co-authored-by: Kem (TiankuiXian) <1041084556@qq.com>
+  Co-authored-by: Kento Osa <38522559+taisa1@users.noreply.github.com>
+  Co-authored-by: Masaki Baba <maumaumaumaumaumaumaumaumaumau@gmail.com>
+* Contributors: Yutaka Kondo
+
+0.38.0 (2024-11-11)
+-------------------
diff --git a/map/autoware_lanelet2_map_visualizer/package.xml b/map/autoware_lanelet2_map_visualizer/package.xml
index 3c3bb24c18399..eef83f90ec142 100644
--- a/map/autoware_lanelet2_map_visualizer/package.xml
+++ b/map/autoware_lanelet2_map_visualizer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_lanelet2_map_visualizer</name>
-  <version>0.1.0</version>
+  <version>0.40.0</version>
   <description>The autoware_lanelet2_map_visualizer package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="ryu.yamamoto@tier4.jp">Ryu Yamamoto</maintainer>
diff --git a/map/autoware_map_height_fitter/CHANGELOG.rst b/map/autoware_map_height_fitter/CHANGELOG.rst
index 724ca70e2ec2d..d600473d9756f 100644
--- a/map/autoware_map_height_fitter/CHANGELOG.rst
+++ b/map/autoware_map_height_fitter/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_map_height_fitter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - map (`#9568 <https://github.com/autowarefoundation/autoware.universe/issues/9568>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/map/autoware_map_height_fitter/package.xml b/map/autoware_map_height_fitter/package.xml
index 280ad1797a079..98a48704c0c4b 100644
--- a/map/autoware_map_height_fitter/package.xml
+++ b/map/autoware_map_height_fitter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_map_height_fitter</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_map_height_fitter package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
diff --git a/map/autoware_map_loader/CHANGELOG.rst b/map/autoware_map_loader/CHANGELOG.rst
index 876670b13ca3d..a9e1080f1d6ec 100644
--- a/map/autoware_map_loader/CHANGELOG.rst
+++ b/map/autoware_map_loader/CHANGELOG.rst
@@ -2,6 +2,45 @@
 Changelog for package autoware_map_loader
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - map (`#9568 <https://github.com/autowarefoundation/autoware.universe/issues/9568>`_)
+* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 <https://github.com/autowarefoundation/autoware.universe/issues/9392>`_)
+* fix: fix package names in changelog files (`#9500 <https://github.com/autowarefoundation/autoware.universe/issues/9500>`_)
+* update version
+* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 <https://github.com/autowarefoundation/autoware.universe/issues/8927>`_)
+  * make lanelet2_map_visualization independent
+  * remove unused files
+  * remove unused package
+  * fix package name
+  * add autoware\_ prefix
+  * add autoware to exec name
+  * add autoware prefix
+  * removed unnecessary dependency
+  ---------
+* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 <https://github.com/autowarefoundation/autoware.universe/issues/8927>`_)
+  * make lanelet2_map_visualization independent
+  * remove unused files
+  * remove unused package
+  * fix package name
+  * add autoware\_ prefix
+  * add autoware to exec name
+  * add autoware prefix
+  * removed unnecessary dependency
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/map/autoware_map_loader/package.xml b/map/autoware_map_loader/package.xml
index 48e3b6efdaa13..4d4eabc6e3f25 100644
--- a/map/autoware_map_loader/package.xml
+++ b/map/autoware_map_loader/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_map_loader</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_map_loader package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="ryu.yamamoto@tier4.jp">Ryu Yamamoto</maintainer>
diff --git a/map/autoware_map_projection_loader/CHANGELOG.rst b/map/autoware_map_projection_loader/CHANGELOG.rst
index b0e85cc682510..eef30e5c5f159 100644
--- a/map/autoware_map_projection_loader/CHANGELOG.rst
+++ b/map/autoware_map_projection_loader/CHANGELOG.rst
@@ -2,6 +2,55 @@
 Changelog for package autoware_map_projection_loader
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - map (`#9568 <https://github.com/autowarefoundation/autoware.universe/issues/9568>`_)
+* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 <https://github.com/autowarefoundation/autoware.universe/issues/9392>`_)
+* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 <https://github.com/autowarefoundation/autoware.universe/issues/8927>`_)
+  * make lanelet2_map_visualization independent
+  * remove unused files
+  * remove unused package
+  * fix package name
+  * add autoware\_ prefix
+  * add autoware to exec name
+  * add autoware prefix
+  * removed unnecessary dependency
+  ---------
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 <https://github.com/autowarefoundation/autoware.universe/issues/8927>`_)
+  * make lanelet2_map_visualization independent
+  * remove unused files
+  * remove unused package
+  * fix package name
+  * add autoware\_ prefix
+  * add autoware to exec name
+  * add autoware prefix
+  * removed unnecessary dependency
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/map/autoware_map_projection_loader/package.xml b/map/autoware_map_projection_loader/package.xml
index 7ce0cbb8105a7..ad31dfdcc094d 100644
--- a/map/autoware_map_projection_loader/package.xml
+++ b/map/autoware_map_projection_loader/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_map_projection_loader</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>autoware_map_projection_loader package as a ROS 2 node</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/map/autoware_map_tf_generator/CHANGELOG.rst b/map/autoware_map_tf_generator/CHANGELOG.rst
index 18bde0c6a0106..963e450bd4856 100644
--- a/map/autoware_map_tf_generator/CHANGELOG.rst
+++ b/map/autoware_map_tf_generator/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_map_tf_generator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - map (`#9568 <https://github.com/autowarefoundation/autoware.universe/issues/9568>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/map/autoware_map_tf_generator/package.xml b/map/autoware_map_tf_generator/package.xml
index 9a5e0388e08b9..0e81321daea2e 100644
--- a/map/autoware_map_tf_generator/package.xml
+++ b/map/autoware_map_tf_generator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_map_tf_generator</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>map_tf_generator package as a ROS 2 node</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
diff --git a/perception/autoware_bytetrack/CHANGELOG.rst b/perception/autoware_bytetrack/CHANGELOG.rst
index 7b18570598431..2db62f9a4e374 100644
--- a/perception/autoware_bytetrack/CHANGELOG.rst
+++ b/perception/autoware_bytetrack/CHANGELOG.rst
@@ -2,6 +2,40 @@
 Changelog for package autoware_bytetrack
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* feat(bytetrack): remove unreachable code block from lapjv.h (`#9563 <https://github.com/autowarefoundation/autoware.universe/issues/9563>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* fix(autoware_bytetrack): update visualizer param path and not to set default value (`#9490 <https://github.com/autowarefoundation/autoware.universe/issues/9490>`_)
+  fix: update visualizer param path and not to set default value
+* fix(autoware_bytetrack): fix clang-diagnostic-implicit-const-int-float-conversion (`#9513 <https://github.com/autowarefoundation/autoware.universe/issues/9513>`_)
+  fix: clang-diagnostic-implicit-const-int-float-conversion
+* fix(autoware_bytetrack): fix clang-diagnostic-implicit-const-int-float-conversion (`#9468 <https://github.com/autowarefoundation/autoware.universe/issues/9468>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 <https://github.com/autowarefoundation/autoware.universe/issues/9171>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kotaro Uetake, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/perception/autoware_bytetrack/package.xml b/perception/autoware_bytetrack/package.xml
index 0cb0747fff40a..4dc982595c588 100644
--- a/perception/autoware_bytetrack/package.xml
+++ b/perception/autoware_bytetrack/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_bytetrack</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>ByteTrack implementation ported toward Autoware</description>
   <maintainer email="manato.hirabayashi@tier4.jp">Manato HIRABAYASHI</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi RI</maintainer>
diff --git a/perception/autoware_cluster_merger/CHANGELOG.rst b/perception/autoware_cluster_merger/CHANGELOG.rst
index 9e1d2b9d0caff..1acdbf9333f30 100644
--- a/perception/autoware_cluster_merger/CHANGELOG.rst
+++ b/perception/autoware_cluster_merger/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_cluster_merger
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/perception/autoware_cluster_merger/package.xml b/perception/autoware_cluster_merger/package.xml
index 29cbe8b5be016..92e1a8aadf40c 100644
--- a/perception/autoware_cluster_merger/package.xml
+++ b/perception/autoware_cluster_merger/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_cluster_merger</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The ROS 2 cluster merger package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_compare_map_segmentation/CHANGELOG.rst b/perception/autoware_compare_map_segmentation/CHANGELOG.rst
index b45f1b3e64076..8d784ca304874 100644
--- a/perception/autoware_compare_map_segmentation/CHANGELOG.rst
+++ b/perception/autoware_compare_map_segmentation/CHANGELOG.rst
@@ -2,6 +2,37 @@
 Changelog for package autoware_compare_map_segmentation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(compare_map_segmentation): rename defined type (`#9181 <https://github.com/autowarefoundation/autoware.universe/issues/9181>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(compare_map_segmentation): add maintainer (`#9371 <https://github.com/autowarefoundation/autoware.universe/issues/9371>`_)
+* fix(compare_map_segmentation): timer period mismatched with parameter (`#9259 <https://github.com/autowarefoundation/autoware.universe/issues/9259>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_compare_map_segmentation): fix cppcheck constVariableReference (`#9196 <https://github.com/autowarefoundation/autoware.universe/issues/9196>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo, badai nguyen
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/perception/autoware_compare_map_segmentation/package.xml b/perception/autoware_compare_map_segmentation/package.xml
index b25ca8bfd829d..8c07d29156f8a 100644
--- a/perception/autoware_compare_map_segmentation/package.xml
+++ b/perception/autoware_compare_map_segmentation/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_compare_map_segmentation</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The ROS 2 autoware_compare_map_segmentation package</description>
   <maintainer email="abrahammonrroy@yahoo.com">amc-nu</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
diff --git a/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst b/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst
index e4a85d38559b0..34e514d13e007 100644
--- a/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst
+++ b/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst
@@ -2,6 +2,37 @@
 Changelog for package autoware_crosswalk_traffic_light_estimator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(autoware_traffic_light*): add maintainer (`#9280 <https://github.com/autowarefoundation/autoware.universe/issues/9280>`_)
+  * add fundamental commit
+  * add forgot package
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masato Saeki, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/perception/autoware_crosswalk_traffic_light_estimator/package.xml b/perception/autoware_crosswalk_traffic_light_estimator/package.xml
index 12e689b5b50e3..a760c3bd950e3 100644
--- a/perception/autoware_crosswalk_traffic_light_estimator/package.xml
+++ b/perception/autoware_crosswalk_traffic_light_estimator/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>autoware_crosswalk_traffic_light_estimator</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_crosswalk_traffic_light_estimator package</description>
 
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
diff --git a/perception/autoware_detected_object_feature_remover/CHANGELOG.rst b/perception/autoware_detected_object_feature_remover/CHANGELOG.rst
index 2f887760e3970..f0d4f1f746eaa 100644
--- a/perception/autoware_detected_object_feature_remover/CHANGELOG.rst
+++ b/perception/autoware_detected_object_feature_remover/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_detected_object_feature_remover
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/perception/autoware_detected_object_feature_remover/package.xml b/perception/autoware_detected_object_feature_remover/package.xml
index 45f7d6e9036e7..a112598728614 100644
--- a/perception/autoware_detected_object_feature_remover/package.xml
+++ b/perception/autoware_detected_object_feature_remover/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_detected_object_feature_remover</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_detected_object_feature_remover package</description>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/perception/autoware_detected_object_validation/CHANGELOG.rst b/perception/autoware_detected_object_validation/CHANGELOG.rst
index ebe5562fc2ec0..bde610a8e3fd5 100644
--- a/perception/autoware_detected_object_validation/CHANGELOG.rst
+++ b/perception/autoware_detected_object_validation/CHANGELOG.rst
@@ -2,6 +2,55 @@
 Changelog for package autoware_detected_object_validation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* feat(object_lanelet_filter): add configurable margin for object lanel… (`#9240 <https://github.com/autowarefoundation/autoware.universe/issues/9240>`_)
+  * feat(object_lanelet_filter): add configurable margin for object lanelet filter
+  modified:   perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp
+  * feat(object_lanelet_filter): add condition to check wheter polygon is empty in debug mode
+  * feat(object_lanelet_filter): fix cppcheck
+  * fix: brig back missing type definition
+  * feat: add stop watch for processing time in object lanelet filter
+  * feat(object_lanelet_filter): remove extra comment line
+  * feat(_object_lanelet_filter): udpate readme
+  * style(pre-commit): autofix
+  * Update perception/autoware_detected_object_validation/src/lanelet_filter/debug.cpp
+  Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com>
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: Sebastian Zęderowski <szederowski@autonomous-systems.pl>
+  Co-authored-by: Taekjin LEE <taekjin.lee@tier4.jp>
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com>
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(autoware_detected_object_validation): fix bugprone-incorrect-roundings (`#9220 <https://github.com/autowarefoundation/autoware.universe/issues/9220>`_)
+  fix: bugprone-incorrect-roundings
+* fix(autoware_detected_object_validation): fix clang-diagnostic-error (`#9215 <https://github.com/autowarefoundation/autoware.universe/issues/9215>`_)
+  fix: clang-c-error
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Sebastian Zęderowski, Yutaka Kondo, kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/perception/autoware_detected_object_validation/package.xml b/perception/autoware_detected_object_validation/package.xml
index 777fcea4db226..9aa6f018de5fa 100644
--- a/perception/autoware_detected_object_validation/package.xml
+++ b/perception/autoware_detected_object_validation/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_detected_object_validation</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The ROS 2 detected_object_validation package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_detection_by_tracker/CHANGELOG.rst b/perception/autoware_detection_by_tracker/CHANGELOG.rst
index 98d6dbe40f4a6..dd8a44828a5ff 100644
--- a/perception/autoware_detection_by_tracker/CHANGELOG.rst
+++ b/perception/autoware_detection_by_tracker/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_detection_by_tracker
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/perception/autoware_detection_by_tracker/package.xml b/perception/autoware_detection_by_tracker/package.xml
index cee180ba43c29..b9ee4fa2aac71 100644
--- a/perception/autoware_detection_by_tracker/package.xml
+++ b/perception/autoware_detection_by_tracker/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_detection_by_tracker</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The ROS 2 autoware_detection_by_tracker package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/perception/autoware_elevation_map_loader/CHANGELOG.rst b/perception/autoware_elevation_map_loader/CHANGELOG.rst
index bd4d313348d9b..b53c69f07a8a9 100644
--- a/perception/autoware_elevation_map_loader/CHANGELOG.rst
+++ b/perception/autoware_elevation_map_loader/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_elevation_map_loader
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(autoware_elevation_map_loader): fix clang-diagnostic-format-security (`#9492 <https://github.com/autowarefoundation/autoware.universe/issues/9492>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/perception/autoware_elevation_map_loader/package.xml b/perception/autoware_elevation_map_loader/package.xml
index 9a63c2fa569cc..6839cd60e2990 100644
--- a/perception/autoware_elevation_map_loader/package.xml
+++ b/perception/autoware_elevation_map_loader/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_elevation_map_loader</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_elevation_map_loader package</description>
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
   <maintainer email="taichi.higashide@tier4.jp">Taichi Higashide</maintainer>
diff --git a/perception/autoware_euclidean_cluster/CHANGELOG.rst b/perception/autoware_euclidean_cluster/CHANGELOG.rst
index 9702b99a0b643..b7ce92ddd6510 100644
--- a/perception/autoware_euclidean_cluster/CHANGELOG.rst
+++ b/perception/autoware_euclidean_cluster/CHANGELOG.rst
@@ -2,6 +2,35 @@
 Changelog for package autoware_euclidean_cluster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_euclidean_cluster): fix bugprone-misplaced-widening-cast (`#9227 <https://github.com/autowarefoundation/autoware.universe/issues/9227>`_)
+  fix: bugprone-misplaced-widening-cast
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/perception/autoware_euclidean_cluster/package.xml b/perception/autoware_euclidean_cluster/package.xml
index d740c35fbd94d..f4568baaea19b 100644
--- a/perception/autoware_euclidean_cluster/package.xml
+++ b/perception/autoware_euclidean_cluster/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_euclidean_cluster</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_euclidean_cluster package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="dai.nguyen@tier4.jp">Dai Nguyen</maintainer>
diff --git a/perception/autoware_ground_segmentation/CHANGELOG.rst b/perception/autoware_ground_segmentation/CHANGELOG.rst
index 7c2dbb7a2413c..b23cfa4972f1f 100644
--- a/perception/autoware_ground_segmentation/CHANGELOG.rst
+++ b/perception/autoware_ground_segmentation/CHANGELOG.rst
@@ -2,6 +2,123 @@
 Changelog for package autoware_ground_segmentation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* fix(autoware_ground_segmentation): remove unused function (`#9536 <https://github.com/autowarefoundation/autoware.universe/issues/9536>`_)
+* fix(autoware_ground_segmentation): fix clang-diagnostic-inconsistent-missing-override (`#9517 <https://github.com/autowarefoundation/autoware.universe/issues/9517>`_)
+  * fix: clang-diagnostic-inconsistent-missing-override
+  * fix: pre-commit error
+  ---------
+* feat(autoware_ground_segmentation): grid data structure revision for efficiency improvement (`#9297 <https://github.com/autowarefoundation/autoware.universe/issues/9297>`_)
+  * fix: replace point index to data index
+  * feat: Use emplace_back instead of push_back for adding gnd_grids in node.cpp
+  * fix: prep for non-sorted grid process
+  * feat: Add Cell class and Grid class for grid-based segmentation
+  * refactor: Add Cell and Grid classes for grid-based segmentation
+  * feat: initialize new grid
+  * refactor: Update Grid class initialization to use radians for azimuth size
+  refactor: Update Grid class initialization to use radians for azimuth size
+  refactor: Update Grid class initialization to use radians for azimuth size
+  * refactor: Fix calculation of azimuth index in Grid class
+  * feat: implement grid based segmentation, temporary logic
+  * refactor: idx position convert methods
+  * refactor: Update Grid class initialization to use radians for azimuth size
+  * feat: reconnect grids filled
+  * feat: grid initialization
+  * refactor: Update Grid class initialization and reset methods, implement a segmentation logic
+  refactor: Update Grid class initialization and reset methods, implement a segmentation logic
+  refactor: replace original methods
+  * feat: add time_keeper
+  * refactor: add time keeper in grid class
+  refactor: remove previous scan ground grid
+  * refactor: optimize grid boundary calculations and use squared values for radius comparisons
+  * fix: use pointer for prev cell
+  * refactor: remove time keeper called too many times
+  * fix: radial idx estimation fix
+  * refactor: optimize ground bin average calculation
+  fix: ground bin logic fix
+  * refactor: make grid ground filter separate
+  * refactor: remove unused code
+  fix: azimuth grid index converter bug
+  * fix: segmentation logic determination fix
+  fix: cell connection bug fix
+  * refactor: optimize pseudoArcTan2 function
+  * refactor: update grid radial calculation
+  * refactor: contain input cloud ptr
+  * refactor: separate ground initialization
+  * refactor: Remove unused code and optimize grid radial calculation
+  * refactor: Inline functions for improved performance
+  * feat: various azimuth interval per radial distance
+  * refactor: Fix bug in grid ground filter segmentation logic and cell connection
+  Remove unused code and optimize grid radial calculation
+  * fix: add missing offset calculation
+  * refactor: Improve grid ground filter segmentation logic and cell connection
+  Optimize grid radial calculation and remove unused code
+  * refactor: Remove debug print statements and optimize grid initialization
+  * refactor: Update grid radial limit to 200.0m
+  * refactor: Update grid size to 0.5m for improved ground segmentation
+  * refactor: Improve grid ground filter segmentation logic
+  * refactor: Optimize grid ground filter segmentation logic
+  * refactor: Update logic order for fast segmentation
+  * fix: resolve cppcheck issue
+  * fix: pseudo atan2 fix for even distribution of azimuth
+  * fix: remove unused next_grid_idx\_ update
+  * fix: introduce pseudo tangent to match result of pseudo arc tangent
+  * style(pre-commit): autofix
+  * fix: limit gradient
+  * fix: bring previous average when the ground bin is empty
+  * fix: back to constant azimuth interval grid
+  * perf: remove division for efficiency
+  * perf: remove division for efficiency
+  * perf: contain radius and height to avoid double calculation
+  * perf: optimize grid distance calculation for efficiency
+  * style(pre-commit): autofix
+  * perf: using isEmpty for efficiency
+  * chore: initialization fix
+  * perf:  initial ground cell is integrated into the classify method for efficiency
+  * perf: refactor grid initialization for efficiency
+  * perf: optimize grid cell linking for efficiency
+  * Revert "perf:  initial ground cell is integrated into the classify method for efficiency"
+  This reverts commit a4ab70b630f966d3e2827a07a0ec27079ecc78d2.
+  * fix: fix pseudo atan2 bug
+  * feat: various azimuth interval by range
+  * perf: optimize pseudoArcTan2 function for efficiency
+  * style(pre-commit): autofix
+  * fix: avoid zero division on the slope estimation
+  * fix: limit recursive search
+  refactor: improve efficiency of recursiveSearch function
+  Fix function parameter type in GridGroundFilter
+  * refactor: add comments about unclassified case
+  * chore: add comment to explain methods
+  * refactor: remove unnecessary include statement
+  * refactor: cast point_list size to int in getPointNum method
+  * refactor: add index check in getCell method
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Taekjin LEE, Yutaka Kondo, kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/perception/autoware_ground_segmentation/package.xml b/perception/autoware_ground_segmentation/package.xml
index 3ac3047654a96..1cb179970e1ae 100644
--- a/perception/autoware_ground_segmentation/package.xml
+++ b/perception/autoware_ground_segmentation/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_ground_segmentation</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The ROS 2 autoware_ground_segmentation package</description>
   <maintainer email="abrahammonrroy@yahoo.com">amc-nu</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
diff --git a/perception/autoware_image_projection_based_fusion/CHANGELOG.rst b/perception/autoware_image_projection_based_fusion/CHANGELOG.rst
index 87d1bc0c2d687..f0a39ef78c708 100644
--- a/perception/autoware_image_projection_based_fusion/CHANGELOG.rst
+++ b/perception/autoware_image_projection_based_fusion/CHANGELOG.rst
@@ -2,6 +2,78 @@
 Changelog for package autoware_image_projection_based_fusion
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix(lidar_centerpoint): non-maximum suppression target decision logic (`#9595 <https://github.com/autowarefoundation/autoware.universe/issues/9595>`_)
+  * refactor(lidar_centerpoint): optimize non-maximum suppression search distance calculation
+  * feat(lidar_centerpoint): do not suppress if one side of the object is pedestrian
+  * style(pre-commit): autofix
+  * refactor(lidar_centerpoint): remove unused variables
+  * refactor: remove unused variables
+  fix: implement non-maximum suppression logic to the transfusion
+  refactor: remove unused parameter iou_nms_target_class_names
+  Revert "fix: implement non-maximum suppression logic to the transfusion"
+  This reverts commit b8017fc366ec7d67234445ef5869f8beca9b6f45.
+  fix: revert transfusion modification
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* feat: remove max rois limit in the image projection based fusion (`#9596 <https://github.com/autowarefoundation/autoware.universe/issues/9596>`_)
+  feat: remove max rois limit
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(autoware_image_projection_based_fusion): detected object roi box projection fix (`#9519 <https://github.com/autowarefoundation/autoware.universe/issues/9519>`_)
+  * fix: detected object roi box projection fix
+  1. eliminate misuse of std::numeric_limits<double>::min()
+  2. fix roi range up to the image edges
+  * fix: fix roi range calculation in RoiDetectedObjectFusionNode
+  Improve the calculation of the region of interest (ROI) in the RoiDetectedObjectFusionNode. The previous code had an issue where the ROI range was not correctly limited to the image edges. This fix ensures that the ROI is within the image boundaries by using the correct comparison operators for the x and y coordinates.
+  ---------
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* ci(pre-commit): update cpplint to 2.0.0 (`#9557 <https://github.com/autowarefoundation/autoware.universe/issues/9557>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* chore(image_projection_based_fusion): add debug for roi_pointcloud fusion (`#9481 <https://github.com/autowarefoundation/autoware.universe/issues/9481>`_)
+* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9509 <https://github.com/autowarefoundation/autoware.universe/issues/9509>`_)
+* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-unused-private-field (`#9505 <https://github.com/autowarefoundation/autoware.universe/issues/9505>`_)
+* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9495 <https://github.com/autowarefoundation/autoware.universe/issues/9495>`_)
+* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9516 <https://github.com/autowarefoundation/autoware.universe/issues/9516>`_)
+  fix: clang-diagnostic-inconsistent-missing-override
+* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9510 <https://github.com/autowarefoundation/autoware.universe/issues/9510>`_)
+* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-unused-private-field (`#9473 <https://github.com/autowarefoundation/autoware.universe/issues/9473>`_)
+  * fix: clang-diagnostic-unused-private-field
+  * fix: build error
+  ---------
+* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9472 <https://github.com/autowarefoundation/autoware.universe/issues/9472>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_image_projection_based_fusion): make optional to consider lens distortion in the point projection (`#9233 <https://github.com/autowarefoundation/autoware.universe/issues/9233>`_)
+  chore: add point_project_to_unrectified_image parameter to fusion_common.param.yaml
+* fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9226 <https://github.com/autowarefoundation/autoware.universe/issues/9226>`_)
+  * fix: bugprone-misplaced-widening-cast
+  * fix: clang-format
+  ---------
+* fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9229 <https://github.com/autowarefoundation/autoware.universe/issues/9229>`_)
+  * fix: bugprone-misplaced-widening-cast
+  * fix: clang-format
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE, Yoshi Ri, Yutaka Kondo, awf-autoware-bot[bot], badai nguyen, kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/perception/autoware_image_projection_based_fusion/package.xml b/perception/autoware_image_projection_based_fusion/package.xml
index 70aa2246d1cdf..025ed5377fa72 100644
--- a/perception/autoware_image_projection_based_fusion/package.xml
+++ b/perception/autoware_image_projection_based_fusion/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_image_projection_based_fusion</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_image_projection_based_fusion package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst b/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst
index e55a52d6924d5..5841ae3059503 100644
--- a/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst
+++ b/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst
@@ -2,6 +2,35 @@
 Changelog for package autoware_lidar_apollo_instance_segmentation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_lidar_apollo_instance_segmentation): fix cppcheck suspiciousFloatingPointCast (`#9195 <https://github.com/autowarefoundation/autoware.universe/issues/9195>`_)
+* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 <https://github.com/autowarefoundation/autoware.universe/issues/9171>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/perception/autoware_lidar_apollo_instance_segmentation/package.xml b/perception/autoware_lidar_apollo_instance_segmentation/package.xml
index dd48f1a2844d4..8a3d5a7ea6f76 100755
--- a/perception/autoware_lidar_apollo_instance_segmentation/package.xml
+++ b/perception/autoware_lidar_apollo_instance_segmentation/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_lidar_apollo_instance_segmentation</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>autoware_lidar_apollo_instance_segmentation</description>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
diff --git a/perception/autoware_lidar_centerpoint/CHANGELOG.rst b/perception/autoware_lidar_centerpoint/CHANGELOG.rst
index b10fd533af90f..46f68e7462377 100644
--- a/perception/autoware_lidar_centerpoint/CHANGELOG.rst
+++ b/perception/autoware_lidar_centerpoint/CHANGELOG.rst
@@ -2,6 +2,52 @@
 Changelog for package autoware_lidar_centerpoint
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix(lidar_centerpoint): non-maximum suppression target decision logic (`#9595 <https://github.com/autowarefoundation/autoware.universe/issues/9595>`_)
+  * refactor(lidar_centerpoint): optimize non-maximum suppression search distance calculation
+  * feat(lidar_centerpoint): do not suppress if one side of the object is pedestrian
+  * style(pre-commit): autofix
+  * refactor(lidar_centerpoint): remove unused variables
+  * refactor: remove unused variables
+  fix: implement non-maximum suppression logic to the transfusion
+  refactor: remove unused parameter iou_nms_target_class_names
+  Revert "fix: implement non-maximum suppression logic to the transfusion"
+  This reverts commit b8017fc366ec7d67234445ef5869f8beca9b6f45.
+  fix: revert transfusion modification
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* fix(autoware_lidar_centerpoint): fix clang-diagnostic-delete-abstract-non-virtual-dtor (`#9515 <https://github.com/autowarefoundation/autoware.universe/issues/9515>`_)
+* feat(autoware_lidar_centerpoint): added a check to notify if we are dropping pillars (`#9488 <https://github.com/autowarefoundation/autoware.universe/issues/9488>`_)
+  * feat: added a check to notify if we are dropping pillars
+  * chore: updated text
+  * chore: throttled the message
+  ---------
+* fix(autoware_lidar_centerpoint): fix clang-diagnostic-unused-private-field (`#9471 <https://github.com/autowarefoundation/autoware.universe/issues/9471>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kenzo Lobos Tsunekawa, M. Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE, Yutaka Kondo, kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/perception/autoware_lidar_centerpoint/package.xml b/perception/autoware_lidar_centerpoint/package.xml
index 9734e56a29d57..78e900f8198f6 100644
--- a/perception/autoware_lidar_centerpoint/package.xml
+++ b/perception/autoware_lidar_centerpoint/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_lidar_centerpoint</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_lidar_centerpoint package</description>
   <maintainer email="kenzo.lobos@tier4.jp">Kenzo Lobos-Tsunekawa</maintainer>
   <maintainer email="koji.minoda@tier4.jp">Koji Minoda</maintainer>
diff --git a/perception/autoware_lidar_transfusion/CHANGELOG.rst b/perception/autoware_lidar_transfusion/CHANGELOG.rst
index 94f49d65991c8..f397c9e1ddc06 100644
--- a/perception/autoware_lidar_transfusion/CHANGELOG.rst
+++ b/perception/autoware_lidar_transfusion/CHANGELOG.rst
@@ -2,6 +2,39 @@
 Changelog for package autoware_lidar_transfusion
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix(autoware_lidar_transfusion): non-maximum suppression target decision logic (`#9612 <https://github.com/autowarefoundation/autoware.universe/issues/9612>`_)
+  fix: non-maximum suppression target decision logic
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* chore(autoware_lidar_transfusion): added a warning if we are dropping voxels (`#9486 <https://github.com/autowarefoundation/autoware.universe/issues/9486>`_)
+  * chore: added a warning if we are dropping voxels
+  * chore: changed the warning to a throttled one
+  ---------
+* fix(autoware_lidar_transfusion): fix clang-diagnostic-unused-private-field (`#9499 <https://github.com/autowarefoundation/autoware.universe/issues/9499>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kenzo Lobos Tsunekawa, M. Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE, Yutaka Kondo, kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/perception/autoware_lidar_transfusion/package.xml b/perception/autoware_lidar_transfusion/package.xml
index a4dd66c27db0e..d9c43bc5a1b20 100644
--- a/perception/autoware_lidar_transfusion/package.xml
+++ b/perception/autoware_lidar_transfusion/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_lidar_transfusion</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The lidar_transfusion package</description>
   <maintainer email="amadeusz.szymko.2@tier4.jp">Amadeusz Szymko</maintainer>
   <maintainer email="kenzo.lobos@tier4.jp">Kenzo Lobos-Tsunekawa</maintainer>
diff --git a/perception/autoware_map_based_prediction/CHANGELOG.rst b/perception/autoware_map_based_prediction/CHANGELOG.rst
index 69769df3aa04d..55bc24894c230 100644
--- a/perception/autoware_map_based_prediction/CHANGELOG.rst
+++ b/perception/autoware_map_based_prediction/CHANGELOG.rst
@@ -2,6 +2,51 @@
 Changelog for package autoware_map_based_prediction
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* fix(autoware_map_based_prediction): msg namespace (`#9553 <https://github.com/autowarefoundation/autoware.universe/issues/9553>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(map_based_prediction): move member functions to utils (`#9225 <https://github.com/autowarefoundation/autoware.universe/issues/9225>`_)
+* refactor(map_based_prediction): divide objectsCallback (`#9219 <https://github.com/autowarefoundation/autoware.universe/issues/9219>`_)
+* refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 <https://github.com/autowarefoundation/autoware.universe/issues/9201>`_)
+  * refactor: grouping functions
+  * refactor: grouping parameters
+  * refactor: rename member road_users_history to road_users_history\_
+  * refactor: separate util functions
+  * refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node
+  * refactor: Add explicit template instantiation for removeOldObjectsHistory function
+  * refactor: Add tf2_geometry_msgs to data_structure
+  * refactor: Remove unused variables and functions in map_based_prediction_node.cpp
+  * Update perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp
+  * Apply suggestions from code review
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com>
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* Contributors: Amadeusz Szymko, Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Taekjin LEE, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/perception/autoware_map_based_prediction/package.xml b/perception/autoware_map_based_prediction/package.xml
index 3d7cba491fe0e..9012590a45b14 100644
--- a/perception/autoware_map_based_prediction/package.xml
+++ b/perception/autoware_map_based_prediction/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_map_based_prediction</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>This package implements a map_based_prediction</description>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/perception/autoware_multi_object_tracker/CHANGELOG.rst b/perception/autoware_multi_object_tracker/CHANGELOG.rst
index 5f8ee4ef00869..5fced913f2b9d 100644
--- a/perception/autoware_multi_object_tracker/CHANGELOG.rst
+++ b/perception/autoware_multi_object_tracker/CHANGELOG.rst
@@ -2,6 +2,57 @@
 Changelog for package autoware_multi_object_tracker
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(autoware_multi_object_tracker): measure latency with latest detection update time (`#9533 <https://github.com/autowarefoundation/autoware.universe/issues/9533>`_)
+  * fix: measure latency with latest detection update time
+  * fix: remove duplicated current_time
+  ---------
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* ci(pre-commit): autoupdate (`#8949 <https://github.com/autowarefoundation/autoware.universe/issues/8949>`_)
+  Co-authored-by: M. Fatih Cırıt <mfc@autoware.org>
+* fix(autoware_multi_object_tracker): fix clang-diagnostic-unused-private-field (`#9491 <https://github.com/autowarefoundation/autoware.universe/issues/9491>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(autoware_multi_object_tracker): new function to add odometry uncertainty (`#9139 <https://github.com/autowarefoundation/autoware.universe/issues/9139>`_)
+  * feat: add Odometry uncertainty to object tracking
+  * feat: Add odometry heading uncertainty to object pose covariance
+  feat: Rotate object pose covariance matrix to account for yaw uncertainty
+  Rotate the object pose covariance matrix in the uncertainty_processor.cpp file to account for the yaw uncertainty. This ensures that the covariance matrix accurately represents the position uncertainty of the object.
+  Refactor the code to rotate the covariance matrix using Eigen's Rotation2D class. The yaw uncertainty is added to the y-y element of the rotated covariance matrix. Finally, update the object_pose_cov array with the updated covariance values.
+  Closes `#123 <https://github.com/autowarefoundation/autoware.universe/issues/123>`_
+  * feat: Add odometry motion uncertainty to object pose covariance
+  refactoring
+  * feat: Update ego twist uncertainty to the object velocity uncertainty
+  * feat: update object twist covariance by odometry yaw rate uncertainty
+  * feat: move uncertainty modeling to input side
+  * feat: add option to select odometry uncertainty
+  * refactor: rename consider_odometry_uncertainty to enable_odometry_uncertainty
+  * fix: transform to world first, add odometry covariance later
+  style(pre-commit): autofix
+  * feat: Add odometry heading uncertainty to object pose covariance
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE, Yutaka Kondo, awf-autoware-bot[bot], kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/perception/autoware_multi_object_tracker/package.xml b/perception/autoware_multi_object_tracker/package.xml
index aa5c4968e36f9..912165d7b6ab6 100644
--- a/perception/autoware_multi_object_tracker/package.xml
+++ b/perception/autoware_multi_object_tracker/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_multi_object_tracker</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The ROS 2 autoware_multi_object_tracker package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/perception/autoware_object_merger/CHANGELOG.rst b/perception/autoware_object_merger/CHANGELOG.rst
index 2e1adbb4b8be6..004d56c406ce9 100644
--- a/perception/autoware_object_merger/CHANGELOG.rst
+++ b/perception/autoware_object_merger/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_object_merger
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/perception/autoware_object_merger/package.xml b/perception/autoware_object_merger/package.xml
index 84a9ec64cf3f0..481bb0babf20d 100644
--- a/perception/autoware_object_merger/package.xml
+++ b/perception/autoware_object_merger/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_object_merger</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_object_merger package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/perception/autoware_object_range_splitter/CHANGELOG.rst b/perception/autoware_object_range_splitter/CHANGELOG.rst
index b0f2a81744b8e..2ad998b66391f 100644
--- a/perception/autoware_object_range_splitter/CHANGELOG.rst
+++ b/perception/autoware_object_range_splitter/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_object_range_splitter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/perception/autoware_object_range_splitter/package.xml b/perception/autoware_object_range_splitter/package.xml
index 27503850261d5..bfc8470834443 100644
--- a/perception/autoware_object_range_splitter/package.xml
+++ b/perception/autoware_object_range_splitter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_object_range_splitter</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_object_range_splitter package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/perception/autoware_object_velocity_splitter/CHANGELOG.rst b/perception/autoware_object_velocity_splitter/CHANGELOG.rst
index 9d38280224125..ec69fb1754d3b 100644
--- a/perception/autoware_object_velocity_splitter/CHANGELOG.rst
+++ b/perception/autoware_object_velocity_splitter/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_object_velocity_splitter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/perception/autoware_object_velocity_splitter/package.xml b/perception/autoware_object_velocity_splitter/package.xml
index 48ffa93f05102..681b29b0c49e8 100644
--- a/perception/autoware_object_velocity_splitter/package.xml
+++ b/perception/autoware_object_velocity_splitter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_object_velocity_splitter</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>autoware_object_velocity_splitter</description>
   <maintainer email="satoshi.tanaka@tier4.jp">Sathshi Tanaka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst b/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst
index e020be4cc906a..cf7dc5752c62d 100644
--- a/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst
+++ b/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst
@@ -2,6 +2,35 @@
 Changelog for package autoware_occupancy_grid_map_outlier_filter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(autoware_occupancy_grid_map_outlier_filter): fix bugprone-incorrect-roundings (`#9217 <https://github.com/autowarefoundation/autoware.universe/issues/9217>`_)
+  * fix: bugprone-incorrect-roundings
+  * fix: clang-format
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/package.xml b/perception/autoware_occupancy_grid_map_outlier_filter/package.xml
index c8c1f15f72c0d..fba074fdc669f 100644
--- a/perception/autoware_occupancy_grid_map_outlier_filter/package.xml
+++ b/perception/autoware_occupancy_grid_map_outlier_filter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_occupancy_grid_map_outlier_filter</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The ROS 2 occupancy_grid_map_outlier_filter package</description>
   <maintainer email="abrahammonrroy@yahoo.com">amc-nu</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
diff --git a/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst b/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst
index 6668ef1c29ed9..75d579b612168 100644
--- a/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst
+++ b/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst
@@ -2,6 +2,33 @@
 Changelog for package autoware_probabilistic_occupancy_grid_map
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-incorrect-roundings (`#9221 <https://github.com/autowarefoundation/autoware.universe/issues/9221>`_)
+  fix: bugprone-incorrect-roundings
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/perception/autoware_probabilistic_occupancy_grid_map/package.xml b/perception/autoware_probabilistic_occupancy_grid_map/package.xml
index e5bd0eebb9b2e..ece7ef0dec663 100644
--- a/perception/autoware_probabilistic_occupancy_grid_map/package.xml
+++ b/perception/autoware_probabilistic_occupancy_grid_map/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_probabilistic_occupancy_grid_map</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>generate probabilistic occupancy grid map</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst b/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst
index 8eb064446cbba..ff859a4d44ce3 100644
--- a/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst
+++ b/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst
@@ -2,6 +2,33 @@
 Changelog for package autoware_radar_crossing_objects_noise_filter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* docs: update the list styles (`#9555 <https://github.com/autowarefoundation/autoware.universe/issues/9555>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/perception/autoware_radar_crossing_objects_noise_filter/package.xml b/perception/autoware_radar_crossing_objects_noise_filter/package.xml
index 5536033aa1319..f5900066cb10b 100644
--- a/perception/autoware_radar_crossing_objects_noise_filter/package.xml
+++ b/perception/autoware_radar_crossing_objects_noise_filter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_radar_crossing_objects_noise_filter</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>autoware_radar_crossing_objects_noise_filter</description>
   <maintainer email="satoshi.tanaka@tier4.jp">Sathshi Tanaka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst b/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst
index 9c4e7c527ecb7..f6f48dfe36231 100644
--- a/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst
+++ b/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_radar_fusion_to_detected_object
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/perception/autoware_radar_fusion_to_detected_object/package.xml b/perception/autoware_radar_fusion_to_detected_object/package.xml
index 82f2f0926e929..20d6331dc8a37 100644
--- a/perception/autoware_radar_fusion_to_detected_object/package.xml
+++ b/perception/autoware_radar_fusion_to_detected_object/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_radar_fusion_to_detected_object</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>autoware_radar_fusion_to_detected_object</description>
   <maintainer email="satoshi.tanaka@tier4.jp">Satoshi Tanaka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_radar_object_clustering/CHANGELOG.rst b/perception/autoware_radar_object_clustering/CHANGELOG.rst
index df38cbed59c27..b1609dd939090 100644
--- a/perception/autoware_radar_object_clustering/CHANGELOG.rst
+++ b/perception/autoware_radar_object_clustering/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_radar_object_clustering
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* docs: update the list styles (`#9555 <https://github.com/autowarefoundation/autoware.universe/issues/9555>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/perception/autoware_radar_object_clustering/package.xml b/perception/autoware_radar_object_clustering/package.xml
index a4611a68f93f2..c8b5278c60292 100644
--- a/perception/autoware_radar_object_clustering/package.xml
+++ b/perception/autoware_radar_object_clustering/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_radar_object_clustering</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>autoware_radar_object_clustering</description>
   <maintainer email="satoshi.tanaka@tier4.jp">Sathshi Tanaka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_radar_object_tracker/CHANGELOG.rst b/perception/autoware_radar_object_tracker/CHANGELOG.rst
index dde801b38e9aa..028737b0d4482 100644
--- a/perception/autoware_radar_object_tracker/CHANGELOG.rst
+++ b/perception/autoware_radar_object_tracker/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_radar_object_tracker
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/perception/autoware_radar_object_tracker/package.xml b/perception/autoware_radar_object_tracker/package.xml
index f255ab28b14b9..4868e93ba9e72 100644
--- a/perception/autoware_radar_object_tracker/package.xml
+++ b/perception/autoware_radar_object_tracker/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_radar_object_tracker</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Do tracking radar object</description>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
diff --git a/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst b/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst
index 3d880f603fdb6..9b60a1b24ec7a 100644
--- a/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst
+++ b/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_radar_tracks_msgs_converter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/perception/autoware_radar_tracks_msgs_converter/package.xml b/perception/autoware_radar_tracks_msgs_converter/package.xml
index d84b7e8473f83..5b2e1c7d6a039 100644
--- a/perception/autoware_radar_tracks_msgs_converter/package.xml
+++ b/perception/autoware_radar_tracks_msgs_converter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_radar_tracks_msgs_converter</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>autoware_radar_tracks_msgs_converter</description>
   <maintainer email="satoshi.tanaka@tier4.jp">Satoshi Tanaka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst b/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst
index 1a20766e6a72c..d61173ea1cfea 100644
--- a/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst
+++ b/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst
@@ -2,6 +2,33 @@
 Changelog for package autoware_raindrop_cluster_filter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* fix(autoware_raindrop_cluster_filter): fix clang-diagnostic-unused-private-field (`#9496 <https://github.com/autowarefoundation/autoware.universe/issues/9496>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/perception/autoware_raindrop_cluster_filter/package.xml b/perception/autoware_raindrop_cluster_filter/package.xml
index 08200191ad58b..af3a2b1e9179f 100644
--- a/perception/autoware_raindrop_cluster_filter/package.xml
+++ b/perception/autoware_raindrop_cluster_filter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_raindrop_cluster_filter</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The ROS 2 filter cluster package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="dai.nguyen@tier4.jp">Dai Nguyen</maintainer>
diff --git a/perception/autoware_shape_estimation/CHANGELOG.rst b/perception/autoware_shape_estimation/CHANGELOG.rst
index 19630554193ec..85af9f1cf54ac 100644
--- a/perception/autoware_shape_estimation/CHANGELOG.rst
+++ b/perception/autoware_shape_estimation/CHANGELOG.rst
@@ -2,6 +2,35 @@
 Changelog for package autoware_shape_estimation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* refactor: correct spelling (`#9528 <https://github.com/autowarefoundation/autoware.universe/issues/9528>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 <https://github.com/autowarefoundation/autoware.universe/issues/9171>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/perception/autoware_shape_estimation/package.xml b/perception/autoware_shape_estimation/package.xml
index a6a9910155120..cfc1d7e829a8a 100644
--- a/perception/autoware_shape_estimation/package.xml
+++ b/perception/autoware_shape_estimation/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_shape_estimation</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>This package implements a shape estimation algorithm as a ROS 2 node</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/perception/autoware_simple_object_merger/CHANGELOG.rst b/perception/autoware_simple_object_merger/CHANGELOG.rst
index 8c9ac43a8382f..d45c6a726433d 100644
--- a/perception/autoware_simple_object_merger/CHANGELOG.rst
+++ b/perception/autoware_simple_object_merger/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_simple_object_merger
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/perception/autoware_simple_object_merger/package.xml b/perception/autoware_simple_object_merger/package.xml
index b42544aede418..db20c03a95640 100644
--- a/perception/autoware_simple_object_merger/package.xml
+++ b/perception/autoware_simple_object_merger/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_simple_object_merger</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>autoware_simple_object_merger</description>
   <maintainer email="satoshi.tanaka@tier4.jp">Sathshi Tanaka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_tensorrt_classifier/CHANGELOG.rst b/perception/autoware_tensorrt_classifier/CHANGELOG.rst
index 1fa80f20f6cb7..88311b8ed9515 100644
--- a/perception/autoware_tensorrt_classifier/CHANGELOG.rst
+++ b/perception/autoware_tensorrt_classifier/CHANGELOG.rst
@@ -2,6 +2,35 @@
 Changelog for package autoware_tensorrt_classifier
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* fix(autoware_tensorrt_classifier): fix clang errors (`#9508 <https://github.com/autowarefoundation/autoware.universe/issues/9508>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 <https://github.com/autowarefoundation/autoware.universe/issues/9171>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/perception/autoware_tensorrt_classifier/package.xml b/perception/autoware_tensorrt_classifier/package.xml
index 4813fe48cd4fd..489f5f2596e25 100644
--- a/perception/autoware_tensorrt_classifier/package.xml
+++ b/perception/autoware_tensorrt_classifier/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_tensorrt_classifier</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>tensorrt classifier wrapper</description>
 
   <author email="dan.umeda@tier4.jp">Dan Umeda</author>
diff --git a/perception/autoware_tensorrt_common/CHANGELOG.rst b/perception/autoware_tensorrt_common/CHANGELOG.rst
index 48a26ad65a610..ab3b7187c0169 100644
--- a/perception/autoware_tensorrt_common/CHANGELOG.rst
+++ b/perception/autoware_tensorrt_common/CHANGELOG.rst
@@ -2,6 +2,33 @@
 Changelog for package autoware_tensorrt_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* fix(autoware_tensorrt_common): fix clang-diagnostic-unused-private-field (`#9493 <https://github.com/autowarefoundation/autoware.universe/issues/9493>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/perception/autoware_tensorrt_common/package.xml b/perception/autoware_tensorrt_common/package.xml
index 7e29cf87b61c3..300a7b263c063 100644
--- a/perception/autoware_tensorrt_common/package.xml
+++ b/perception/autoware_tensorrt_common/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_tensorrt_common</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>tensorrt utility wrapper</description>
 
   <author email="taichi.higashide@tier4.jp">Taichi Higashide</author>
diff --git a/perception/autoware_tensorrt_yolox/CHANGELOG.rst b/perception/autoware_tensorrt_yolox/CHANGELOG.rst
index b0883dab538d5..969f1df4b5496 100644
--- a/perception/autoware_tensorrt_yolox/CHANGELOG.rst
+++ b/perception/autoware_tensorrt_yolox/CHANGELOG.rst
@@ -2,6 +2,36 @@
 Changelog for package autoware_tensorrt_yolox
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* fix(autoware_tensorrt_yolox): fix clang-diagnostic-inconsistent-missing-override (`#9512 <https://github.com/autowarefoundation/autoware.universe/issues/9512>`_)
+  fix: clang-diagnostic-inconsistent-missing-override
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 <https://github.com/autowarefoundation/autoware.universe/issues/9171>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/perception/autoware_tensorrt_yolox/package.xml b/perception/autoware_tensorrt_yolox/package.xml
index 1c8cd51ee935c..e04d839282fd8 100644
--- a/perception/autoware_tensorrt_yolox/package.xml
+++ b/perception/autoware_tensorrt_yolox/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_tensorrt_yolox</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>tensorrt library implementation for yolox</description>
 
   <author email="daisuke.nishimatsu@tier4.jp">Daisuke Nishimatsu</author>
diff --git a/perception/autoware_tracking_object_merger/CHANGELOG.rst b/perception/autoware_tracking_object_merger/CHANGELOG.rst
index 0c6aad26b02d7..337e7028ee61f 100644
--- a/perception/autoware_tracking_object_merger/CHANGELOG.rst
+++ b/perception/autoware_tracking_object_merger/CHANGELOG.rst
@@ -2,6 +2,35 @@
 Changelog for package autoware_tracking_object_merger
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* fix(autoware_tracking_object_merger): fix clang-diagnostic-sign-conversion (`#9507 <https://github.com/autowarefoundation/autoware.universe/issues/9507>`_)
+  fix: clang-diagnostic-sign-conversion
+* fix(autoware_tracking_object_merger): fix clang-diagnostic-sign-conversion (`#9494 <https://github.com/autowarefoundation/autoware.universe/issues/9494>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/perception/autoware_tracking_object_merger/package.xml b/perception/autoware_tracking_object_merger/package.xml
index fabe4132c96ed..2b19ee381258f 100644
--- a/perception/autoware_tracking_object_merger/package.xml
+++ b/perception/autoware_tracking_object_merger/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_tracking_object_merger</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>merge tracking object</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/perception/autoware_traffic_light_arbiter/CHANGELOG.rst b/perception/autoware_traffic_light_arbiter/CHANGELOG.rst
index b60021ffb5503..0b3182907a8ce 100644
--- a/perception/autoware_traffic_light_arbiter/CHANGELOG.rst
+++ b/perception/autoware_traffic_light_arbiter/CHANGELOG.rst
@@ -2,6 +2,37 @@
 Changelog for package autoware_traffic_light_arbiter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(autoware_traffic_light*): add maintainer (`#9280 <https://github.com/autowarefoundation/autoware.universe/issues/9280>`_)
+  * add fundamental commit
+  * add forgot package
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masato Saeki, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/perception/autoware_traffic_light_arbiter/package.xml b/perception/autoware_traffic_light_arbiter/package.xml
index 46500143ed951..03d6ad5cb6cf4 100644
--- a/perception/autoware_traffic_light_arbiter/package.xml
+++ b/perception/autoware_traffic_light_arbiter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_traffic_light_arbiter</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_traffic_light_arbiter package</description>
   <maintainer email="kenzo.lobos@tier4.jp">Kenzo Lobos-Tsunekawa</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_traffic_light_classifier/CHANGELOG.rst b/perception/autoware_traffic_light_classifier/CHANGELOG.rst
index 394c8b3f7aeea..db6ddb6b18f87 100644
--- a/perception/autoware_traffic_light_classifier/CHANGELOG.rst
+++ b/perception/autoware_traffic_light_classifier/CHANGELOG.rst
@@ -2,6 +2,39 @@
 Changelog for package autoware_traffic_light_classifier
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(autoware_traffic_light_classifier): fix clang-diagnostic-delete-abstract-non-virtual-dtor (`#9497 <https://github.com/autowarefoundation/autoware.universe/issues/9497>`_)
+  fix: clang-diagnostic-delete-abstract-non-virtual-dtor
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(autoware_traffic_light*): add maintainer (`#9280 <https://github.com/autowarefoundation/autoware.universe/issues/9280>`_)
+  * add fundamental commit
+  * add forgot package
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 <https://github.com/autowarefoundation/autoware.universe/issues/9171>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Masato Saeki, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/perception/autoware_traffic_light_classifier/package.xml b/perception/autoware_traffic_light_classifier/package.xml
index 5863de6ff50fd..d83791916d4b9 100644
--- a/perception/autoware_traffic_light_classifier/package.xml
+++ b/perception/autoware_traffic_light_classifier/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_traffic_light_classifier</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_traffic_light_classifier package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst b/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst
index 8918f357e263b..80b1fa60f9e1f 100644
--- a/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst
+++ b/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst
@@ -2,6 +2,37 @@
 Changelog for package autoware_traffic_light_fine_detector
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(autoware_traffic_light*): add maintainer (`#9280 <https://github.com/autowarefoundation/autoware.universe/issues/9280>`_)
+  * add fundamental commit
+  * add forgot package
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masato Saeki, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/perception/autoware_traffic_light_fine_detector/package.xml b/perception/autoware_traffic_light_fine_detector/package.xml
index a431f071f8150..c9db06669ea99 100644
--- a/perception/autoware_traffic_light_fine_detector/package.xml
+++ b/perception/autoware_traffic_light_fine_detector/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_traffic_light_fine_detector</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_traffic_light_fine_detector package</description>
   <maintainer email="tao.zhong@tier4.jp">Tao Zhong</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst b/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst
index 312ef582da479..60f84da7131f2 100644
--- a/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst
+++ b/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst
@@ -2,6 +2,37 @@
 Changelog for package autoware_traffic_light_map_based_detector
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(autoware_traffic_light*): add maintainer (`#9280 <https://github.com/autowarefoundation/autoware.universe/issues/9280>`_)
+  * add fundamental commit
+  * add forgot package
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masato Saeki, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/perception/autoware_traffic_light_map_based_detector/package.xml b/perception/autoware_traffic_light_map_based_detector/package.xml
index 6c22e091ee972..c5caca47a0c39 100644
--- a/perception/autoware_traffic_light_map_based_detector/package.xml
+++ b/perception/autoware_traffic_light_map_based_detector/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_traffic_light_map_based_detector</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_traffic_light_map_based_detector package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst b/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst
index 4354885dcb143..74a7fa049c486 100644
--- a/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst
+++ b/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst
@@ -2,6 +2,41 @@
 Changelog for package autoware_traffic_light_multi_camera_fusion
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(autoware_traffic_light_multi_camera_fusion): resolve clang-tidy error (`#9336 <https://github.com/autowarefoundation/autoware.universe/issues/9336>`_)
+  * feat(autoware_traffic_light_multi_camera_fusion): resolve clang-tidy error
+  * add const to argument
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(autoware_traffic_light*): add maintainer (`#9280 <https://github.com/autowarefoundation/autoware.universe/issues/9280>`_)
+  * add fundamental commit
+  * add forgot package
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masato Saeki, Ryohsuke Mitsudome, Yukinari Hisaki, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/perception/autoware_traffic_light_multi_camera_fusion/package.xml b/perception/autoware_traffic_light_multi_camera_fusion/package.xml
index efa8571a660a8..dfe8657577582 100644
--- a/perception/autoware_traffic_light_multi_camera_fusion/package.xml
+++ b/perception/autoware_traffic_light_multi_camera_fusion/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_traffic_light_multi_camera_fusion</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_traffic_light_multi_camera_fusion package</description>
   <maintainer email="tao.zhong@tier4.jp">Tao Zhong</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst b/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst
index fb31d9ffdf0c1..8dec833763cb7 100644
--- a/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst
+++ b/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst
@@ -2,6 +2,38 @@
 Changelog for package autoware_traffic_light_occlusion_predictor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(traffic_light_utils): prefix package and namespace with autoware (`#9251 <https://github.com/autowarefoundation/autoware.universe/issues/9251>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(autoware_traffic_light*): add maintainer (`#9280 <https://github.com/autowarefoundation/autoware.universe/issues/9280>`_)
+  * add fundamental commit
+  * add forgot package
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masato Saeki, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/perception/autoware_traffic_light_occlusion_predictor/package.xml b/perception/autoware_traffic_light_occlusion_predictor/package.xml
index b1dbc773b5eb0..e10dddaf40eaf 100644
--- a/perception/autoware_traffic_light_occlusion_predictor/package.xml
+++ b/perception/autoware_traffic_light_occlusion_predictor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_traffic_light_occlusion_predictor</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_traffic_light_occlusion_predictor package</description>
   <maintainer email="tao.zhong@tier4.jp">Tao Zhong</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/perception/autoware_traffic_light_visualization/CHANGELOG.rst b/perception/autoware_traffic_light_visualization/CHANGELOG.rst
index 7da332f0f878b..420b4bf485eec 100644
--- a/perception/autoware_traffic_light_visualization/CHANGELOG.rst
+++ b/perception/autoware_traffic_light_visualization/CHANGELOG.rst
@@ -2,6 +2,40 @@
 Changelog for package autoware_traffic_light_visualization
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* fix(traffic_light_roi_visualizer): show unknown results correctly (`#9467 <https://github.com/autowarefoundation/autoware.universe/issues/9467>`_)
+  fix: show unknown results correctly
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(autoware_traffic_light_visualization): include opencv as system (`#9331 <https://github.com/autowarefoundation/autoware.universe/issues/9331>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(autoware_traffic_light*): add maintainer (`#9280 <https://github.com/autowarefoundation/autoware.universe/issues/9280>`_)
+  * add fundamental commit
+  * add forgot package
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masato Saeki, Ryohsuke Mitsudome, Tao Zhong, Yukinari Hisaki, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/perception/autoware_traffic_light_visualization/package.xml b/perception/autoware_traffic_light_visualization/package.xml
index 210700799ea73..afb30d43f2a70 100644
--- a/perception/autoware_traffic_light_visualization/package.xml
+++ b/perception/autoware_traffic_light_visualization/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_traffic_light_visualization</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_traffic_light_visualization package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="tao.zhong@tier4.jp">Tao Zhong</maintainer>
diff --git a/perception/perception_utils/CHANGELOG.rst b/perception/perception_utils/CHANGELOG.rst
index 2dbb57cbd2f48..ddbe6e3f40270 100644
--- a/perception/perception_utils/CHANGELOG.rst
+++ b/perception/perception_utils/CHANGELOG.rst
@@ -2,6 +2,33 @@
 Changelog for package perception_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - perception (`#9569 <https://github.com/autowarefoundation/autoware.universe/issues/9569>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(perception_utils): install include directory (`#9354 <https://github.com/autowarefoundation/autoware.universe/issues/9354>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/perception/perception_utils/package.xml b/perception/perception_utils/package.xml
index 7001d249e1f52..058811b048459 100644
--- a/perception/perception_utils/package.xml
+++ b/perception/perception_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>perception_utils</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The perception_utils package</description>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/planning/autoware_costmap_generator/CHANGELOG.rst b/planning/autoware_costmap_generator/CHANGELOG.rst
index 2dad489bbc6a4..6215cd6361b49 100644
--- a/planning/autoware_costmap_generator/CHANGELOG.rst
+++ b/planning/autoware_costmap_generator/CHANGELOG.rst
@@ -2,6 +2,57 @@
 Changelog for package autoware_costmap_generator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* feat(costmap_generator, scenario_selector): improve freespace planning stability (`#9579 <https://github.com/autowarefoundation/autoware.universe/issues/9579>`_)
+  * discretize updating grid center position by size of grid resolution
+  * modify logic for switching to lane driving in scenario selector
+  * fix spelling
+  ---------
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* refactor: correct spelling (`#9528 <https://github.com/autowarefoundation/autoware.universe/issues/9528>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(autoware_costmap_generator): fix clang-diagnostic-unused-private-field (`#9395 <https://github.com/autowarefoundation/autoware.universe/issues/9395>`_)
+  fix: clang-diagnostic-unused-private-field
+* fix(costmap_generator): use vehicle frame for lidar height thresholds (`#9311 <https://github.com/autowarefoundation/autoware.universe/issues/9311>`_)
+* test(costmap_generator): unit test implementation for costmap generator (`#9149 <https://github.com/autowarefoundation/autoware.universe/issues/9149>`_)
+  * modify costmap generator directory structure
+  * rename class CostmapGenerator to CostmapGeneratorNode
+  * unit test for object_map_utils
+  * catch error from lookupTransform
+  * use polling subscriber in costmap generator node
+  * add test for costmap generator node
+  * add test for isActive()
+  * revert unnecessary changes
+  * remove commented out line
+  * minor fix
+  * Update planning/autoware_costmap_generator/src/costmap_generator.cpp
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  ---------
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Maxime CLEMENT, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858, mkquda
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/planning/autoware_costmap_generator/package.xml b/planning/autoware_costmap_generator/package.xml
index d3b03f171ef97..9097109de0a0b 100644
--- a/planning/autoware_costmap_generator/package.xml
+++ b/planning/autoware_costmap_generator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_costmap_generator</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_costmap_generator package</description>
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
diff --git a/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst b/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst
index 544a12e7cde26..0dd0f835c1f53 100644
--- a/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst
+++ b/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst
@@ -2,6 +2,37 @@
 Changelog for package autoware_external_velocity_limit_selector
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* feat(velocity_smoother, external_velocity_limit_selector): enable stronger acceleration when requested (`#9502 <https://github.com/autowarefoundation/autoware.universe/issues/9502>`_)
+  * change max acceleration and max jerk according to external velocity request
+  * modify external velocity limit selector
+  * fix external velocity limit selector
+  * fix format
+  ---------
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/autoware_external_velocity_limit_selector/package.xml b/planning/autoware_external_velocity_limit_selector/package.xml
index 4779de30519a0..b75a4fab72d7c 100644
--- a/planning/autoware_external_velocity_limit_selector/package.xml
+++ b/planning/autoware_external_velocity_limit_selector/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_external_velocity_limit_selector</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_external_velocity_limit_selector ROS 2 package</description>
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
   <maintainer email="shinnosuke.hirakawa@tier4.jp">Shinnosuke Hirakawa</maintainer>
diff --git a/planning/autoware_freespace_planner/CHANGELOG.rst b/planning/autoware_freespace_planner/CHANGELOG.rst
index 277d7f96d5d15..ad8960a64d3d2 100644
--- a/planning/autoware_freespace_planner/CHANGELOG.rst
+++ b/planning/autoware_freespace_planner/CHANGELOG.rst
@@ -2,6 +2,47 @@
 Changelog for package autoware_freespace_planner
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* fix(autoware_freespace_planner, autoware_freespace_planning_algorithms): modify freespace planner to use node clock instead of system clock (`#9152 <https://github.com/autowarefoundation/autoware.universe/issues/9152>`_)
+  * Modified the autoware_freespace_planner and autoware_freespace_planning_algorithms packages to use the node clock instead of rclcpp detached clock. This allows the module to make use of sim time. Previously during simulation the parking trajectory would have system time in trajectory header messages causing downstream issues like non-clearance of trajectory buffers in motion planning based on elapsed time.
+  * style(pre-commit): autofix
+  * Updated the freespace planner instantiation call in the path planning modules
+  * style(pre-commit): autofix
+  * Updated tests for the utility functions
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: Steven Brills <sbrills@oshkoshcorp.com>
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(freespace_planner): add processing time pub (`#9332 <https://github.com/autowarefoundation/autoware.universe/issues/9332>`_)
+* fix(freespace_planner): fix is near target check (`#9327 <https://github.com/autowarefoundation/autoware.universe/issues/9327>`_)
+  * fix is_near_target_check
+  * update unit test
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kazunori-Nakajima, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, mkquda, stevenbrills
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/autoware_freespace_planner/package.xml b/planning/autoware_freespace_planner/package.xml
index 84818e70f220a..fd7e39d191647 100644
--- a/planning/autoware_freespace_planner/package.xml
+++ b/planning/autoware_freespace_planner/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_freespace_planner</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_freespace_planner package</description>
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
diff --git a/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst b/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst
index c032ebe44f723..8f6b94a2e0a80 100644
--- a/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst
+++ b/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst
@@ -2,6 +2,54 @@
 Changelog for package autoware_freespace_planning_algorithms
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* refactor: correct spelling (`#9528 <https://github.com/autowarefoundation/autoware.universe/issues/9528>`_)
+* fix(autoware_freespace_planner, autoware_freespace_planning_algorithms): modify freespace planner to use node clock instead of system clock (`#9152 <https://github.com/autowarefoundation/autoware.universe/issues/9152>`_)
+  * Modified the autoware_freespace_planner and autoware_freespace_planning_algorithms packages to use the node clock instead of rclcpp detached clock. This allows the module to make use of sim time. Previously during simulation the parking trajectory would have system time in trajectory header messages causing downstream issues like non-clearance of trajectory buffers in motion planning based on elapsed time.
+  * style(pre-commit): autofix
+  * Updated the freespace planner instantiation call in the path planning modules
+  * style(pre-commit): autofix
+  * Updated tests for the utility functions
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: Steven Brills <sbrills@oshkoshcorp.com>
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* fix(autoware_freespace_planning_algorithms): fix clang-diagnostic-unused-const-variable (`#9433 <https://github.com/autowarefoundation/autoware.universe/issues/9433>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(autoware_freespace_planning_algorithms): fix clang-diagnostic-ignored-optimization-argument (`#9418 <https://github.com/autowarefoundation/autoware.universe/issues/9418>`_)
+  fix: clang-diagnostic-ignored-optimization-argument
+* fix(autoware_freespace_planning_algorithms): fix clang-diagnostic-unused-private-field (`#9396 <https://github.com/autowarefoundation/autoware.universe/issues/9396>`_)
+  * fix: clang-diagnostic-unused-private-field
+  * fix: build error
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(/autoware_freespace_planning_algorithms): fix cppcheck unusedFunction (`#9274 <https://github.com/autowarefoundation/autoware.universe/issues/9274>`_)
+* fix(autoware_freespace_planning_algorithms): fix bugprone-unused-raii (`#9230 <https://github.com/autowarefoundation/autoware.universe/issues/9230>`_)
+  fix: bugprone-unused-raii
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo, kobayu858, stevenbrills
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/planning/autoware_freespace_planning_algorithms/package.xml b/planning/autoware_freespace_planning_algorithms/package.xml
index 9a9b7ad0c586f..4bffa7bd15c1d 100644
--- a/planning/autoware_freespace_planning_algorithms/package.xml
+++ b/planning/autoware_freespace_planning_algorithms/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_freespace_planning_algorithms</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_freespace_planning_algorithms package</description>
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
diff --git a/planning/autoware_mission_planner/CHANGELOG.rst b/planning/autoware_mission_planner/CHANGELOG.rst
index bdab400dfa983..ed21313c96af2 100644
--- a/planning/autoware_mission_planner/CHANGELOG.rst
+++ b/planning/autoware_mission_planner/CHANGELOG.rst
@@ -2,6 +2,49 @@
 Changelog for package autoware_mission_planner
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix: autoware_glog_compontnt (`#9586 <https://github.com/autowarefoundation/autoware.universe/issues/9586>`_)
+  Fixed autoware_glog_compontnt
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* refactor(glog_component): prefix package and namespace with autoware (`#9302 <https://github.com/autowarefoundation/autoware.universe/issues/9302>`_)
+  Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
+* fix(mission_planner): fix initialization after route set (`#9457 <https://github.com/autowarefoundation/autoware.universe/issues/9457>`_)
+* fix(autoware_mission_planner): fix clang-diagnostic-error (`#9432 <https://github.com/autowarefoundation/autoware.universe/issues/9432>`_)
+* feat(mission_planner): add processing time publisher (`#9342 <https://github.com/autowarefoundation/autoware.universe/issues/9342>`_)
+  * feat(mission_planner): add processing time publisher
+  * delete extra line
+  * update: mission_planner, route_selector, service_utils.
+  * Revert "update: mission_planner, route_selector, service_utils."
+  This reverts commit d460a633c04c166385963c5233c3845c661e595e.
+  * Update to show that exceptions are not handled
+  * feat(mission_planner,route_selector): add processing time publisher
+  ---------
+  Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kazunori-Nakajima, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, SakodaShintaro, Takagi, Isamu, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/autoware_mission_planner/package.xml b/planning/autoware_mission_planner/package.xml
index d249d2fb00021..e7cf974b2ba25 100644
--- a/planning/autoware_mission_planner/package.xml
+++ b/planning/autoware_mission_planner/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_mission_planner</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_mission_planner package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
diff --git a/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst b/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst
index 891d36e2a3be5..16b583990ec3e 100644
--- a/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst
+++ b/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_objects_of_interest_marker_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/autoware_objects_of_interest_marker_interface/package.xml b/planning/autoware_objects_of_interest_marker_interface/package.xml
index 15f2adac6924d..6d179f7872dc1 100644
--- a/planning/autoware_objects_of_interest_marker_interface/package.xml
+++ b/planning/autoware_objects_of_interest_marker_interface/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_objects_of_interest_marker_interface</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_objects_of_interest_marker_interface package</description>
 
   <maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>
diff --git a/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst b/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst
index 8b0192c171a29..827fee6a58039 100644
--- a/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst
+++ b/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst
@@ -2,6 +2,70 @@
 Changelog for package autoware_obstacle_cruise_planner
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* refactor(obstacle_cruise_planner)!: refactor rviz and terminal info (`#9594 <https://github.com/autowarefoundation/autoware.universe/issues/9594>`_)
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* fix(obstacle_cruise_planner)!: remove stop reason (`#9464 <https://github.com/autowarefoundation/autoware.universe/issues/9464>`_)
+  fix(obstacle_cruise_planner): remove stop reason
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(obstacle_cruise_planner): outputs velocity factor when the ego follows front vehicle. (`#9359 <https://github.com/autowarefoundation/autoware.universe/issues/9359>`_)
+  * feat(obstacle_cruise_planner): outputs velocity factor when the ego follows front vehicle.
+  * fix: cppcheck
+  ---------
+* fix(autoware_obstacle_cruise_planner): fix clang-diagnostic-delete-abstract-non-virtual-dtor (`#9419 <https://github.com/autowarefoundation/autoware.universe/issues/9419>`_)
+  fix: clang-diagnostic-delete-abstract-non-virtual-dtor
+* fix(autoware_obstacle_cruise_planner): fix clang-diagnostic-defaulted-function-deleted (`#9398 <https://github.com/autowarefoundation/autoware.universe/issues/9398>`_)
+  fix: clang-diagnostic-defaulted-function-deleted
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 <https://github.com/autowarefoundation/autoware.universe/issues/9180>`_)
+  * first commit
+  * fix building errs.
+  * change diagnostic messages to metric messages for publishing decision.
+  * fix bug about motion_velocity_planner
+  * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner.
+  * tmp save for planning_evaluator
+  * change the topic to which metrics published to.
+  * fix typo.
+  * remove unnesessary publishing of metrics.
+  * mke planning_evaluator publish msg of MetricArray instead of Diags.
+  * update aeb with metric type for decision.
+  * fix some bug
+  * remove autoware_evaluator_utils package.
+  * remove diagnostic_msgs dependency of planning_evaluator
+  * use metric_msgs for autoware_processing_time_checker.
+  * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs.
+  * pre-commit and fix typo
+  * publish metrics even if there is no metric in the MetricArray.
+  * modify the metric name of processing_time.
+  * update unit test for test_planning/control_evaluator
+  * manual pre-commit
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* chore(obstacle_cruise_planner): add function tests for a utils function (`#9206 <https://github.com/autowarefoundation/autoware.universe/issues/9206>`_)
+  * add utils test
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yuki TAKAGI, Yutaka Kondo, kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/planning/autoware_obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml
index 75405c3aded2a..8583d0639e5ce 100644
--- a/planning/autoware_obstacle_cruise_planner/package.xml
+++ b/planning/autoware_obstacle_cruise_planner/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_obstacle_cruise_planner</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_obstacle_cruise_planner package</description>
 
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/planning/autoware_obstacle_stop_planner/CHANGELOG.rst b/planning/autoware_obstacle_stop_planner/CHANGELOG.rst
index 2afc9c79edac5..867553c9ffd4e 100644
--- a/planning/autoware_obstacle_stop_planner/CHANGELOG.rst
+++ b/planning/autoware_obstacle_stop_planner/CHANGELOG.rst
@@ -2,6 +2,34 @@
 Changelog for package autoware_obstacle_stop_planner
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* fix(obstacle_stop_planner): remove stop reason (`#9465 <https://github.com/autowarefoundation/autoware.universe/issues/9465>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(autoware_obstacle_stop_planner): fix cppcheck warnings (`#9388 <https://github.com/autowarefoundation/autoware.universe/issues/9388>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/autoware_obstacle_stop_planner/package.xml b/planning/autoware_obstacle_stop_planner/package.xml
index d46ad5c6c2a0d..c9c78b3e87c3b 100644
--- a/planning/autoware_obstacle_stop_planner/package.xml
+++ b/planning/autoware_obstacle_stop_planner/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_obstacle_stop_planner</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_obstacle_stop_planner package</description>
 
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
diff --git a/planning/autoware_path_optimizer/CHANGELOG.rst b/planning/autoware_path_optimizer/CHANGELOG.rst
index 07ea508e53c07..19798e6697ec6 100644
--- a/planning/autoware_path_optimizer/CHANGELOG.rst
+++ b/planning/autoware_path_optimizer/CHANGELOG.rst
@@ -2,6 +2,37 @@
 Changelog for package autoware_path_optimizer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* refactor(global_parameter_loader): prefix package and namespace with autoware (`#9303 <https://github.com/autowarefoundation/autoware.universe/issues/9303>`_)
+* docs: update the list styles (`#9555 <https://github.com/autowarefoundation/autoware.universe/issues/9555>`_)
+* fix(path_optimizer): solve issue with time keeper (`#9483 <https://github.com/autowarefoundation/autoware.universe/issues/9483>`_)
+  solve issue with time keeper
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(fake_test_node): prefix package and namespace with autoware (`#9249 <https://github.com/autowarefoundation/autoware.universe/issues/9249>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, danielsanchezaran
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/autoware_path_optimizer/package.xml b/planning/autoware_path_optimizer/package.xml
index 8ab7d50ccada4..eb02db8ea9586 100644
--- a/planning/autoware_path_optimizer/package.xml
+++ b/planning/autoware_path_optimizer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_path_optimizer</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_path_optimizer package</description>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
diff --git a/planning/autoware_path_smoother/CHANGELOG.rst b/planning/autoware_path_smoother/CHANGELOG.rst
index 823219e9dd303..4b7f86361c63b 100644
--- a/planning/autoware_path_smoother/CHANGELOG.rst
+++ b/planning/autoware_path_smoother/CHANGELOG.rst
@@ -2,6 +2,34 @@
 Changelog for package autoware_path_smoother
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* refactor: correct spelling (`#9528 <https://github.com/autowarefoundation/autoware.universe/issues/9528>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(fake_test_node): prefix package and namespace with autoware (`#9249 <https://github.com/autowarefoundation/autoware.universe/issues/9249>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/autoware_path_smoother/package.xml b/planning/autoware_path_smoother/package.xml
index 572cf514b7be5..3fa7b9fa482ed 100644
--- a/planning/autoware_path_smoother/package.xml
+++ b/planning/autoware_path_smoother/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_path_smoother</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_path_smoother package</description>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
   <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
diff --git a/planning/autoware_planning_test_manager/CHANGELOG.rst b/planning/autoware_planning_test_manager/CHANGELOG.rst
index 3d674c64296af..f1ac0f088c3cc 100644
--- a/planning/autoware_planning_test_manager/CHANGELOG.rst
+++ b/planning/autoware_planning_test_manager/CHANGELOG.rst
@@ -2,6 +2,37 @@
 Changelog for package autoware_planning_test_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* chore(planning_test_manager): update owner (`#9620 <https://github.com/autowarefoundation/autoware.universe/issues/9620>`_)
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* refactor(test_utils): return parser as optional (`#9391 <https://github.com/autowarefoundation/autoware.universe/issues/9391>`_)
+  Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com>
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo, Zulfaqar Azmi
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/planning/autoware_planning_test_manager/package.xml b/planning/autoware_planning_test_manager/package.xml
index 1b38944f545bc..80801a8102453 100644
--- a/planning/autoware_planning_test_manager/package.xml
+++ b/planning/autoware_planning_test_manager/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_planning_test_manager</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>ROS 2 node for testing interface of the nodes in planning module</description>
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
diff --git a/planning/autoware_planning_topic_converter/CHANGELOG.rst b/planning/autoware_planning_topic_converter/CHANGELOG.rst
index 897a99d1e0bc2..e937e664654a2 100644
--- a/planning/autoware_planning_topic_converter/CHANGELOG.rst
+++ b/planning/autoware_planning_topic_converter/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_planning_topic_converter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/autoware_planning_topic_converter/package.xml b/planning/autoware_planning_topic_converter/package.xml
index 3503a9bebda40..e2585924a61d2 100644
--- a/planning/autoware_planning_topic_converter/package.xml
+++ b/planning/autoware_planning_topic_converter/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_planning_topic_converter</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_planning_topic_converter package</description>
 
   <maintainer email="satoshi.ota@tier4.jp">Satoshi OTA</maintainer>
diff --git a/planning/autoware_planning_validator/CHANGELOG.rst b/planning/autoware_planning_validator/CHANGELOG.rst
index 9828da69cf80d..76018e5bf5f11 100644
--- a/planning/autoware_planning_validator/CHANGELOG.rst
+++ b/planning/autoware_planning_validator/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_planning_validator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/autoware_planning_validator/package.xml b/planning/autoware_planning_validator/package.xml
index 9db00b580b60d..1652c2ad4f544 100644
--- a/planning/autoware_planning_validator/package.xml
+++ b/planning/autoware_planning_validator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_planning_validator</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>ros node for autoware_planning_validator</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
diff --git a/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst b/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst
index 7a8d11d37fe1e..570e7b4783ca4 100644
--- a/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst
+++ b/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_remaining_distance_time_calculator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/autoware_remaining_distance_time_calculator/package.xml b/planning/autoware_remaining_distance_time_calculator/package.xml
index 55033af92656b..924e6d62d6aba 100644
--- a/planning/autoware_remaining_distance_time_calculator/package.xml
+++ b/planning/autoware_remaining_distance_time_calculator/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_remaining_distance_time_calculator</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Calculates and publishes remaining distance and time of the mission.</description>
 
   <maintainer email="ahmed.ebrahim@leodrive.ai">Ahmed Ebrahim</maintainer>
diff --git a/planning/autoware_route_handler/CHANGELOG.rst b/planning/autoware_route_handler/CHANGELOG.rst
index 37c1db12186ce..d70e5897c96b5 100644
--- a/planning/autoware_route_handler/CHANGELOG.rst
+++ b/planning/autoware_route_handler/CHANGELOG.rst
@@ -2,6 +2,34 @@
 Changelog for package autoware_route_handler
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* refactor(test_utils): return parser as optional (`#9391 <https://github.com/autowarefoundation/autoware.universe/issues/9391>`_)
+  Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com>
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, Zulfaqar Azmi
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/autoware_route_handler/package.xml b/planning/autoware_route_handler/package.xml
index 78a024a8c5f82..ededbcc9eef3d 100644
--- a/planning/autoware_route_handler/package.xml
+++ b/planning/autoware_route_handler/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_route_handler</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The route_handling package</description>
   <maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>
   <maintainer email="zulfaqar.azmi@tier4.jp">Zulfaqar Azmi</maintainer>
diff --git a/planning/autoware_rtc_interface/CHANGELOG.rst b/planning/autoware_rtc_interface/CHANGELOG.rst
index 3c6fe2604d2ab..11672d2c47e3e 100644
--- a/planning/autoware_rtc_interface/CHANGELOG.rst
+++ b/planning/autoware_rtc_interface/CHANGELOG.rst
@@ -2,6 +2,44 @@
 Changelog for package autoware_rtc_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_rtc_interface): fix dependency (`#9237 <https://github.com/autowarefoundation/autoware.universe/issues/9237>`_)
+* fix(rtc_interface): update requested field for every cooperateStatus state (`#9211 <https://github.com/autowarefoundation/autoware.universe/issues/9211>`_)
+  * fix rtc_interface
+  * fix test condition
+  ---------
+* feat(rtc_interface): add requested field (`#9202 <https://github.com/autowarefoundation/autoware.universe/issues/9202>`_)
+  * add requested feature
+  * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp
+  Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
+  ---------
+  Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/planning/autoware_rtc_interface/package.xml b/planning/autoware_rtc_interface/package.xml
index 668e31093072e..861554e81408e 100644
--- a/planning/autoware_rtc_interface/package.xml
+++ b/planning/autoware_rtc_interface/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_rtc_interface</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_rtc_interface package</description>
 
   <maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>
diff --git a/planning/autoware_scenario_selector/CHANGELOG.rst b/planning/autoware_scenario_selector/CHANGELOG.rst
index 0e1a560fa95e8..877192f0e68f9 100644
--- a/planning/autoware_scenario_selector/CHANGELOG.rst
+++ b/planning/autoware_scenario_selector/CHANGELOG.rst
@@ -2,6 +2,37 @@
 Changelog for package autoware_scenario_selector
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* feat(costmap_generator, scenario_selector): improve freespace planning stability (`#9579 <https://github.com/autowarefoundation/autoware.universe/issues/9579>`_)
+  * discretize updating grid center position by size of grid resolution
+  * modify logic for switching to lane driving in scenario selector
+  * fix spelling
+  ---------
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, mkquda
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/autoware_scenario_selector/package.xml b/planning/autoware_scenario_selector/package.xml
index 9787f95ed9fde..e726e40acecce 100644
--- a/planning/autoware_scenario_selector/package.xml
+++ b/planning/autoware_scenario_selector/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_scenario_selector</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_scenario_selector ROS 2 package</description>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/planning/autoware_static_centerline_generator/CHANGELOG.rst b/planning/autoware_static_centerline_generator/CHANGELOG.rst
index 6fac2e4677528..0338cdc8b66bb 100644
--- a/planning/autoware_static_centerline_generator/CHANGELOG.rst
+++ b/planning/autoware_static_centerline_generator/CHANGELOG.rst
@@ -2,6 +2,61 @@
 Changelog for package autoware_static_centerline_generator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix(static_centerline_generator): several bug fixes (`#9426 <https://github.com/autowarefoundation/autoware.universe/issues/9426>`_)
+  * fix: dependent packages
+  * feat: use steer angle, use warn for steer angle failure, calc curvature dicontinuously
+  * fix cppcheck
+  ---------
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* refactor(global_parameter_loader): prefix package and namespace with autoware (`#9303 <https://github.com/autowarefoundation/autoware.universe/issues/9303>`_)
+* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 <https://github.com/autowarefoundation/autoware.universe/issues/9392>`_)
+* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 <https://github.com/autowarefoundation/autoware.universe/issues/8927>`_)
+  * make lanelet2_map_visualization independent
+  * remove unused files
+  * remove unused package
+  * fix package name
+  * add autoware\_ prefix
+  * add autoware to exec name
+  * add autoware prefix
+  * removed unnecessary dependency
+  ---------
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(static_centerline_generator): map_tf_generator package name needs update (`#9383 <https://github.com/autowarefoundation/autoware.universe/issues/9383>`_)
+  fix map_tf_generator name in autoware_static_centerline_generator.launch
+* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 <https://github.com/autowarefoundation/autoware.universe/issues/8927>`_)
+  * make lanelet2_map_visualization independent
+  * remove unused files
+  * remove unused package
+  * fix package name
+  * add autoware\_ prefix
+  * add autoware to exec name
+  * add autoware prefix
+  * removed unnecessary dependency
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masaki Baba, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo, Zhanhong Yan
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/autoware_static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml
index 6ba1494e714cd..cea18e5605921 100644
--- a/planning/autoware_static_centerline_generator/package.xml
+++ b/planning/autoware_static_centerline_generator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_static_centerline_generator</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_static_centerline_generator package</description>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
diff --git a/planning/autoware_surround_obstacle_checker/CHANGELOG.rst b/planning/autoware_surround_obstacle_checker/CHANGELOG.rst
index 077b52e08e342..c6e1a13a59aa2 100644
--- a/planning/autoware_surround_obstacle_checker/CHANGELOG.rst
+++ b/planning/autoware_surround_obstacle_checker/CHANGELOG.rst
@@ -2,6 +2,43 @@
 Changelog for package autoware_surround_obstacle_checker
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* ci(pre-commit): autoupdate (`#8949 <https://github.com/autowarefoundation/autoware.universe/issues/8949>`_)
+  Co-authored-by: M. Fatih Cırıt <mfc@autoware.org>
+* fix(surround_obstacle_checker)!: remove stop reason (`#9450 <https://github.com/autowarefoundation/autoware.universe/issues/9450>`_)
+  fix(surround_obstacle_checker): remove stop reason
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(autoware_surround_obstacle_checker): fix clang-diagnostic-unused-private-field (`#9399 <https://github.com/autowarefoundation/autoware.universe/issues/9399>`_)
+  * fix: clang-diagnostic-unused-private-field
+  * refactor: fmt
+  * refactor: fmt
+  * refactor: fmt
+  * fix: hpp
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo, awf-autoware-bot[bot], kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/autoware_surround_obstacle_checker/package.xml b/planning/autoware_surround_obstacle_checker/package.xml
index 64a626c0ccb60..4a6f946b8eb90 100644
--- a/planning/autoware_surround_obstacle_checker/package.xml
+++ b/planning/autoware_surround_obstacle_checker/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_surround_obstacle_checker</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_surround_obstacle_checker package</description>
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
   <maintainer email="go.sakayori@tier4.jp">Go Sakayori</maintainer>
diff --git a/planning/autoware_velocity_smoother/CHANGELOG.rst b/planning/autoware_velocity_smoother/CHANGELOG.rst
index 14c905b82cfa1..4655c9658ef2b 100644
--- a/planning/autoware_velocity_smoother/CHANGELOG.rst
+++ b/planning/autoware_velocity_smoother/CHANGELOG.rst
@@ -2,6 +2,40 @@
 Changelog for package autoware_velocity_smoother
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* feat(velocity_smoother, external_velocity_limit_selector): enable stronger acceleration when requested (`#9502 <https://github.com/autowarefoundation/autoware.universe/issues/9502>`_)
+  * change max acceleration and max jerk according to external velocity request
+  * modify external velocity limit selector
+  * fix external velocity limit selector
+  * fix format
+  ---------
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(qp_interface): prefix package and namespace with autoware (`#9236 <https://github.com/autowarefoundation/autoware.universe/issues/9236>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/planning/autoware_velocity_smoother/package.xml b/planning/autoware_velocity_smoother/package.xml
index c27a984c36681..96462602d8da0 100644
--- a/planning/autoware_velocity_smoother/package.xml
+++ b/planning/autoware_velocity_smoother/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_velocity_smoother</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_velocity_smoother package</description>
 
   <maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst
index e736da5b9fb49..0b2d004e1f02b 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst
+++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst
@@ -2,6 +2,43 @@
 Changelog for package autoware_behavior_path_avoidance_by_lane_change_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(bpp): rework steering factor interface (`#9325 <https://github.com/autowarefoundation/autoware.universe/issues/9325>`_)
+  * refactor(bpp): rework steering factor interface
+  * refactor(soa): rework steering factor interface
+  * refactor(AbLC): rework steering factor interface
+  * refactor(doa): rework steering factor interface
+  * refactor(lc): rework steering factor interface
+  * refactor(gp): rework steering factor interface
+  * refactor(sp): rework steering factor interface
+  * refactor(sbp): rework steering factor interface
+  * refactor(ss): rework steering factor interface
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml
index 43195e8ca502b..83c361d064fb0 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_path_avoidance_by_lane_change_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The behavior_path_avoidance_by_lane_change_module package</description>
 
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst
index 7219f13994710..5b5179f250d8d 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst
+++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst
@@ -2,6 +2,43 @@
 Changelog for package autoware_behavior_path_dynamic_obstacle_avoidance_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(bpp): rework steering factor interface (`#9325 <https://github.com/autowarefoundation/autoware.universe/issues/9325>`_)
+  * refactor(bpp): rework steering factor interface
+  * refactor(soa): rework steering factor interface
+  * refactor(AbLC): rework steering factor interface
+  * refactor(doa): rework steering factor interface
+  * refactor(lc): rework steering factor interface
+  * refactor(gp): rework steering factor interface
+  * refactor(sp): rework steering factor interface
+  * refactor(sbp): rework steering factor interface
+  * refactor(ss): rework steering factor interface
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml
index 1829d9a949115..e3aefb01c797d 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_path_dynamic_obstacle_avoidance_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_path_dynamic_obstacle_avoidance_module package</description>
 
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst
index cdd6bc1033d7e..0a315105e5bf1 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst
+++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst
@@ -2,6 +2,43 @@
 Changelog for package autoware_behavior_path_external_request_lane_change_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(bpp): rework steering factor interface (`#9325 <https://github.com/autowarefoundation/autoware.universe/issues/9325>`_)
+  * refactor(bpp): rework steering factor interface
+  * refactor(soa): rework steering factor interface
+  * refactor(AbLC): rework steering factor interface
+  * refactor(doa): rework steering factor interface
+  * refactor(lc): rework steering factor interface
+  * refactor(gp): rework steering factor interface
+  * refactor(sp): rework steering factor interface
+  * refactor(sbp): rework steering factor interface
+  * refactor(ss): rework steering factor interface
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml
index 981f119357ca0..af46393d9b9ae 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_path_external_request_lane_change_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_path_external_request_lane_change_module package</description>
 
   <maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst
index 1813e0ac901f9..627f216b6d7c9 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst
@@ -2,6 +2,88 @@
 Changelog for package autoware_behavior_path_goal_planner_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* feat(behavior_path_planner): add detail text to virutal wall (`#9600 <https://github.com/autowarefoundation/autoware.universe/issues/9600>`_)
+  * feat(behavior_path_planner): add detail text to virutal wall
+  * goal is far
+  * pull over start pose is far
+  * fix lc build
+  * fix build
+  * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
+  ---------
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(goal_planner): fix isStopped judgement (`#9585 <https://github.com/autowarefoundation/autoware.universe/issues/9585>`_)
+  * fix(goal_planner): fix isStopped judgement
+  * fix typo
+  ---------
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* feat(goal_planner): check opposite lane for lane departure_check (`#9460 <https://github.com/autowarefoundation/autoware.universe/issues/9460>`_)
+  * feat(goal_planner): check opposite lane for lane departure_check
+  * refactor getMostInnerLane
+  ---------
+* refactor(goal_planner): improve log message and change level (`#9562 <https://github.com/autowarefoundation/autoware.universe/issues/9562>`_)
+  Co-authored-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* refactor(goal_planner): move PathDecisionController implementation to a different file (`#9523 <https://github.com/autowarefoundation/autoware.universe/issues/9523>`_)
+  refactor(goal_planner): move decision_state implementation
+* refactor(goal_planner): move unnecessary member functions (`#9522 <https://github.com/autowarefoundation/autoware.universe/issues/9522>`_)
+* fix(autoware_freespace_planner, autoware_freespace_planning_algorithms): modify freespace planner to use node clock instead of system clock (`#9152 <https://github.com/autowarefoundation/autoware.universe/issues/9152>`_)
+  * Modified the autoware_freespace_planner and autoware_freespace_planning_algorithms packages to use the node clock instead of rclcpp detached clock. This allows the module to make use of sim time. Previously during simulation the parking trajectory would have system time in trajectory header messages causing downstream issues like non-clearance of trajectory buffers in motion planning based on elapsed time.
+  * style(pre-commit): autofix
+  * Updated the freespace planner instantiation call in the path planning modules
+  * style(pre-commit): autofix
+  * Updated tests for the utility functions
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: Steven Brills <sbrills@oshkoshcorp.com>
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* fix(goal_planner): fix multiple lane ids of shift pull over (`#9360 <https://github.com/autowarefoundation/autoware.universe/issues/9360>`_)
+  fix vel
+* fix(goal_planner): remove stop reason (`#9365 <https://github.com/autowarefoundation/autoware.universe/issues/9365>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(goal_planner): use departure_check_lane for path (`#9423 <https://github.com/autowarefoundation/autoware.universe/issues/9423>`_)
+* refactor(goal_planner): rename shoulder_lane to pull_over_lane (`#9422 <https://github.com/autowarefoundation/autoware.universe/issues/9422>`_)
+* feat(goal_planner): do not insert shift end pose on pull over lane to path (`#9361 <https://github.com/autowarefoundation/autoware.universe/issues/9361>`_)
+* feat(goal_planner): remove unnecessary member from ThreadSafeData (`#9393 <https://github.com/autowarefoundation/autoware.universe/issues/9393>`_)
+* feat(goal_planner): move goal_candidates from ThreadSafeData to GoalPlannerData (`#9292 <https://github.com/autowarefoundation/autoware.universe/issues/9292>`_)
+* feat(goal_planner): output velocity factor (`#9348 <https://github.com/autowarefoundation/autoware.universe/issues/9348>`_)
+* refactor(bpp): rework steering factor interface (`#9325 <https://github.com/autowarefoundation/autoware.universe/issues/9325>`_)
+  * refactor(bpp): rework steering factor interface
+  * refactor(soa): rework steering factor interface
+  * refactor(AbLC): rework steering factor interface
+  * refactor(doa): rework steering factor interface
+  * refactor(lc): rework steering factor interface
+  * refactor(gp): rework steering factor interface
+  * refactor(sp): rework steering factor interface
+  * refactor(sbp): rework steering factor interface
+  * refactor(ss): rework steering factor interface
+  ---------
+* refactor(goal_planner): remove reference_goal_pose getter/setter (`#9270 <https://github.com/autowarefoundation/autoware.universe/issues/9270>`_)
+* feat(goal_planner): safety check with only parking path (`#9293 <https://github.com/autowarefoundation/autoware.universe/issues/9293>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* feat(goal_planner): sort candidate path only when num to avoid is different (`#9271 <https://github.com/autowarefoundation/autoware.universe/issues/9271>`_)
+* fix(autoware_behavior_path_goal_planner_module): fix cppcheck unreadVariable (`#9192 <https://github.com/autowarefoundation/autoware.universe/issues/9192>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Yutaka Kondo, stevenbrills
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml
index dc7221d0fd604..dead1e4fe0f37 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_path_goal_planner_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_path_goal_planner_module package</description>
 
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst
index 572a09aeda817..42f6ddf841fec 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst
@@ -2,6 +2,292 @@
 Changelog for package autoware_behavior_path_lane_change_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* feat(behavior_path_planner): add detail text to virutal wall (`#9600 <https://github.com/autowarefoundation/autoware.universe/issues/9600>`_)
+  * feat(behavior_path_planner): add detail text to virutal wall
+  * goal is far
+  * pull over start pose is far
+  * fix lc build
+  * fix build
+  * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
+  ---------
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(lane_change): check obj predicted path when filtering (`#9385 <https://github.com/autowarefoundation/autoware.universe/issues/9385>`_)
+  * RT1-8537 check object's predicted path when filtering
+  * use ranges view in get_line_string_paths
+  * check only vehicle type predicted path
+  * Refactor naming
+  * fix grammatical
+  * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
+  Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
+  * precommit and grammar fix
+  ---------
+  Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* feat(lane_change): reduce prepare duration when blinker has been activated (`#9185 <https://github.com/autowarefoundation/autoware.universe/issues/9185>`_)
+  * add minimum prepare duration parameter
+  * reduce prepare duration according to signal activation time
+  * chore: update CODEOWNERS (`#9203 <https://github.com/autowarefoundation/autoware.universe/issues/9203>`_)
+  Co-authored-by: github-actions <github-actions@github.com>
+  * refactor(time_utils): prefix package and namespace with autoware (`#9173 <https://github.com/autowarefoundation/autoware.universe/issues/9173>`_)
+  * refactor(time_utils): prefix package and namespace with autoware
+  * refactor(time_utils): prefix package and namespace with autoware
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  * feat(rtc_interface): add requested field (`#9202 <https://github.com/autowarefoundation/autoware.universe/issues/9202>`_)
+  * add requested feature
+  * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp
+  Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
+  ---------
+  Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
+  * fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (`#9199 <https://github.com/autowarefoundation/autoware.universe/issues/9199>`_)
+  * fix(bpp): prevent accessing nullopt (`#9204 <https://github.com/autowarefoundation/autoware.universe/issues/9204>`_)
+  fix(bpp): calcDistanceToRedTrafficLight null
+  * refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 <https://github.com/autowarefoundation/autoware.universe/issues/9201>`_)
+  * refactor: grouping functions
+  * refactor: grouping parameters
+  * refactor: rename member road_users_history to road_users_history\_
+  * refactor: separate util functions
+  * refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node
+  * refactor: Add explicit template instantiation for removeOldObjectsHistory function
+  * refactor: Add tf2_geometry_msgs to data_structure
+  * refactor: Remove unused variables and functions in map_based_prediction_node.cpp
+  * Update perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp
+  * Apply suggestions from code review
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com>
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  * refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 <https://github.com/autowarefoundation/autoware.universe/issues/8912>`_)
+  * Moved ndt_omp into ndt_scan_matcher
+  * Added Copyright
+  * style(pre-commit): autofix
+  * Fixed include
+  * Fixed cast style
+  * Fixed include
+  * Fixed honorific title
+  * Fixed honorific title
+  * style(pre-commit): autofix
+  * Fixed include hierarchy
+  * style(pre-commit): autofix
+  * Fixed include hierarchy
+  * style(pre-commit): autofix
+  * Fixed hierarchy
+  * Fixed NVTP to NVTL
+  * Added cspell:ignore
+  * Fixed miss spell
+  * style(pre-commit): autofix
+  * Fixed include
+  * Renamed applyFilter
+  * Moved ***_impl.hpp from include/ to src/
+  * style(pre-commit): autofix
+  * Fixed variable scope
+  * Fixed to pass by reference
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  * feat(autoware_test_utils): add traffic light msgs parser (`#9177 <https://github.com/autowarefoundation/autoware.universe/issues/9177>`_)
+  * modify implementation to compute and keep actual prepare duration in transient data
+  * if LC path is approved, set prepare duration in transient data from approved path prepare duration
+  * change default value of LC param min_prepare_duration
+  * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
+  Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
+  * add function to set signal activation time, add docstring for function calc_actual_prepare_duration
+  * check for zero value max_acc to avoid division by zero
+  * chore: rename codeowners file
+  * chore: rename codeowners file
+  * chore: rename codeowners file
+  * allow decelerating in lane changing phase near terminal
+  * fix spelling
+  * fix units
+  * allow decelerating in lane changing phase near terminal
+  * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md
+  Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
+  * run pre-commit check
+  * fix spelling
+  * fix format
+  * allow decelerating in lane changing phase near terminal
+  * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md
+  Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
+  * run pre-commit check
+  * fix spelling
+  * fix format
+  ---------
+  Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com>
+  Co-authored-by: github-actions <github-actions@github.com>
+  Co-authored-by: Esteve Fernandez <33620+esteve@users.noreply.github.com>
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com>
+  Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
+  Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
+  Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
+  Co-authored-by: Taekjin LEE <taekjin.lee@tier4.jp>
+  Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com>
+  Co-authored-by: SakodaShintaro <shintaro.sakoda@tier4.jp>
+  Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
+  Co-authored-by: tomoya.kimura <tomoya.kimura@tier4.jp>
+* feat(lane_changing): improve computation of lane changing acceleration (`#9545 <https://github.com/autowarefoundation/autoware.universe/issues/9545>`_)
+  * allow decelerating in lane changing phase near terminal
+  * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md
+  Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
+  * run pre-commit check
+  * fix spelling
+  * fix format
+  ---------
+  Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* refactor(test_utils): return parser as optional (`#9391 <https://github.com/autowarefoundation/autoware.universe/issues/9391>`_)
+  Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com>
+* fix(lane_change): cap ego's predicted path velocity (RT1-8505) (`#9341 <https://github.com/autowarefoundation/autoware.universe/issues/9341>`_)
+  * fix(lane_change): cap ego's predicted path velocity (RT1-8505)
+  * properly cap based on 0.0 instead of min lc vel
+  * fix build error
+  ---------
+* fix(autoware_behavior_path_lane_change_module): fix clang-diagnostic-unused-variable (`#9401 <https://github.com/autowarefoundation/autoware.universe/issues/9401>`_)
+* feat(lane_change): improve delay lane change logic (`#9480 <https://github.com/autowarefoundation/autoware.universe/issues/9480>`_)
+  * implement function to check if lane change delay is required
+  * refactor function isParkedObject
+  * refactor delay lane change parameters
+  * update lc param yaml
+  * separate target lane leading objects based on behavior (RT1-8532)
+  * fixed overlapped filtering and lanes debug marker
+  * combine filteredObjects function
+  * renaming functions and type
+  * update some logic to check is stopped
+  * rename expanded to stopped_outside_boundary
+  * Include docstring
+  * rename stopped_outside_boundary → stopped_at_bound
+  * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp
+  Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
+  * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp
+  Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
+  * spell-check
+  * add docstring for function is_delay_lane_change
+  * remove unused functions
+  * fix spelling
+  * add delay parameters to README
+  * add documentation for delay lane change behavior
+  * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
+  Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
+  * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
+  Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
+  * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
+  Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
+  * run pre-commit checks
+  * only check for delay lc if feature is enabled
+  ---------
+  Co-authored-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
+  Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
+* fix(autoware_behavior_path_lane_change_module): fix clang-diagnostic-error (`#9402 <https://github.com/autowarefoundation/autoware.universe/issues/9402>`_)
+* fix(autoware_behavior_path_lane_change_module): fix clang-diagnostic-overloaded-virtual (`#9400 <https://github.com/autowarefoundation/autoware.universe/issues/9400>`_)
+* feat(lane_change): parse predicted objects for lane change test (RT1-8251) (`#9256 <https://github.com/autowarefoundation/autoware.universe/issues/9256>`_)
+  * RT1-8251 parse predicted objects
+  * fix pre-commit and build error
+  * add additional test and fix test failure
+  * fix lint_cmake failure
+  * use expect instead
+  * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp
+  Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
+  ---------
+  Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
+* refactor(lane_change): refactor lane change parameters (`#9403 <https://github.com/autowarefoundation/autoware.universe/issues/9403>`_)
+  * refactor lane change parameters
+  * update lane change param yaml
+  * update lane change README
+  * regroup some parameters
+  * run pre-commit prettier step
+  * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp
+  Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
+  * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md
+  Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
+  * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md
+  Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
+  * apply pre-commit checks
+  ---------
+  Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(lane_change): separate target lane leading based on obj behavior (`#9372 <https://github.com/autowarefoundation/autoware.universe/issues/9372>`_)
+  * separate target lane leading objects based on behavior (RT1-8532)
+  * fixed overlapped filtering and lanes debug marker
+  * combine filteredObjects function
+  * renaming functions and type
+  * update some logic to check is stopped
+  * rename expanded to stopped_outside_boundary
+  * Include docstring
+  * rename stopped_outside_boundary → stopped_at_bound
+  * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp
+  Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
+  * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp
+  Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
+  * spell-check
+  ---------
+  Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
+* feat(lane_change): output velocity factor (`#9349 <https://github.com/autowarefoundation/autoware.universe/issues/9349>`_)
+* refactor(lane_change): refactor extended object safety check (`#9322 <https://github.com/autowarefoundation/autoware.universe/issues/9322>`_)
+  * refactor LC extended object collision check code
+  * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
+  Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
+  ---------
+  Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
+* refactor(bpp): rework steering factor interface (`#9325 <https://github.com/autowarefoundation/autoware.universe/issues/9325>`_)
+  * refactor(bpp): rework steering factor interface
+  * refactor(soa): rework steering factor interface
+  * refactor(AbLC): rework steering factor interface
+  * refactor(doa): rework steering factor interface
+  * refactor(lc): rework steering factor interface
+  * refactor(gp): rework steering factor interface
+  * refactor(sp): rework steering factor interface
+  * refactor(sbp): rework steering factor interface
+  * refactor(ss): rework steering factor interface
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(lane_change): remove std::optional from lanes polygon (`#9288 <https://github.com/autowarefoundation/autoware.universe/issues/9288>`_)
+* fix(lane_change): extending lane change path for multiple lane change (RT1-8427) (`#9268 <https://github.com/autowarefoundation/autoware.universe/issues/9268>`_)
+  * RT1-8427 extending lc path for multiple lc
+  * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
+  Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
+  ---------
+  Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 <https://github.com/autowarefoundation/autoware.universe/issues/9279>`_)
+  fix computation of maximum lane changing length threshold
+* refactor(lane_change): revert "remove std::optional from lanes polygon" (`#9272 <https://github.com/autowarefoundation/autoware.universe/issues/9272>`_)
+  Revert "refactor(lane_change): remove std::optional from lanes polygon (`#9267 <https://github.com/autowarefoundation/autoware.universe/issues/9267>`_)"
+  This reverts commit 0c70ea8793985c6aae90f851eeffdd2561fe04b3.
+* refactor(lane_change): remove std::optional from lanes polygon (`#9267 <https://github.com/autowarefoundation/autoware.universe/issues/9267>`_)
+* fix(lane_change): enable cancel when ego in turn direction lane (`#9124 <https://github.com/autowarefoundation/autoware.universe/issues/9124>`_)
+  * RT0-33893 add checks from prev intersection
+  * fix shadow variable
+  * fix logic
+  * update readme
+  * refactor get_ego_footprint
+  ---------
+* test(bpp_common): add unit test for safety check (`#9223 <https://github.com/autowarefoundation/autoware.universe/issues/9223>`_)
+  * add test for object collision
+  * add test for more functions
+  * add docstring
+  * fix lane change
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Kosuke Takeuchi, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo, Zulfaqar Azmi, kobayu858, mkquda
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml
index d4108003a9afe..dd4dbe63e41d4 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_path_lane_change_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_path_lane_change_module package</description>
 
   <maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst
index ea088d6130c85..654a5b4ed0d87 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst
@@ -2,6 +2,50 @@
 Changelog for package autoware_behavior_path_planner
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* fix(bpp)!: remove stop reason (`#9449 <https://github.com/autowarefoundation/autoware.universe/issues/9449>`_)
+  fix(bpp): remove stop reason
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(bpp): add velocity interface (`#9344 <https://github.com/autowarefoundation/autoware.universe/issues/9344>`_)
+  * feat(bpp): add velocity interface
+  * fix(adapi): subscribe additional velocity factors
+  ---------
+* refactor(factor): move steering factor interface to motion utils (`#9337 <https://github.com/autowarefoundation/autoware.universe/issues/9337>`_)
+* refactor(bpp): rework steering factor interface (`#9325 <https://github.com/autowarefoundation/autoware.universe/issues/9325>`_)
+  * refactor(bpp): rework steering factor interface
+  * refactor(soa): rework steering factor interface
+  * refactor(AbLC): rework steering factor interface
+  * refactor(doa): rework steering factor interface
+  * refactor(lc): rework steering factor interface
+  * refactor(gp): rework steering factor interface
+  * refactor(sp): rework steering factor interface
+  * refactor(sbp): rework steering factor interface
+  * refactor(ss): rework steering factor interface
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml
index 7fa591bd4a740..6141480d1597a 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_path_planner</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The behavior_path_planner package</description>
 
   <!-- lane change module -->
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst
index 0e0b6aa328d26..6c72ac310e31f 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst
@@ -2,6 +2,143 @@
 Changelog for package autoware_behavior_path_planner_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* build(behavior_path_planner_common): fix #include <rclcpp/clock.hpp> (`#6297 <https://github.com/autowarefoundation/autoware.universe/issues/6297>`_)
+* feat(behavior_path_planner): add detail text to virutal wall (`#9600 <https://github.com/autowarefoundation/autoware.universe/issues/9600>`_)
+  * feat(behavior_path_planner): add detail text to virutal wall
+  * goal is far
+  * pull over start pose is far
+  * fix lc build
+  * fix build
+  * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
+  ---------
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(lane_change): check obj predicted path when filtering (`#9385 <https://github.com/autowarefoundation/autoware.universe/issues/9385>`_)
+  * RT1-8537 check object's predicted path when filtering
+  * use ranges view in get_line_string_paths
+  * check only vehicle type predicted path
+  * Refactor naming
+  * fix grammatical
+  * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
+  Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
+  * precommit and grammar fix
+  ---------
+  Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* test(bpp_common): add unit test for utils (`#9469 <https://github.com/autowarefoundation/autoware.universe/issues/9469>`_)
+  * add easy unit test
+  * fix clang tidy warning and add unit test
+  * add more unit test
+  * add docstring
+  ---------
+* test(bpp_common): add unit test for object filtering (`#9408 <https://github.com/autowarefoundation/autoware.universe/issues/9408>`_)
+  * add unit test for all function
+  * add function to create bounding nox object
+  ---------
+* test(bpp_common): add unit test for traffic light utils (`#9441 <https://github.com/autowarefoundation/autoware.universe/issues/9441>`_)
+  * add test data for traffic light utils
+  * add unit test function
+  * fix style
+  * use test_utils::resolve_plg_share_uri for map path
+  ---------
+* fix(bpp)!: remove stop reason (`#9449 <https://github.com/autowarefoundation/autoware.universe/issues/9449>`_)
+  fix(bpp): remove stop reason
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(behavior_path_planner_common): add package maintainer (`#9429 <https://github.com/autowarefoundation/autoware.universe/issues/9429>`_)
+  add package maintainer
+* refactor(lane_change): separate target lane leading based on obj behavior (`#9372 <https://github.com/autowarefoundation/autoware.universe/issues/9372>`_)
+  * separate target lane leading objects based on behavior (RT1-8532)
+  * fixed overlapped filtering and lanes debug marker
+  * combine filteredObjects function
+  * renaming functions and type
+  * update some logic to check is stopped
+  * rename expanded to stopped_outside_boundary
+  * Include docstring
+  * rename stopped_outside_boundary → stopped_at_bound
+  * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp
+  Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
+  * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp
+  Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
+  * spell-check
+  ---------
+  Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
+* refactor(goal_planner): rename shoulder_lane to pull_over_lane (`#9422 <https://github.com/autowarefoundation/autoware.universe/issues/9422>`_)
+* fix(behavior_path_planner_common): prevent duplicated point insertion in cutOverlappedLanes (`#9363 <https://github.com/autowarefoundation/autoware.universe/issues/9363>`_)
+* feat(behavior_path_planner_common): use azimuth for interpolatePose (`#9362 <https://github.com/autowarefoundation/autoware.universe/issues/9362>`_)
+* test(bpp_common): add unit test for safety check (`#9386 <https://github.com/autowarefoundation/autoware.universe/issues/9386>`_)
+  * fix docstring
+  * add basic collision test
+  * add some more tests
+  * add unit test for all functions
+  * remove unecessary header and space
+  ---------
+* refactor(traffic_light_utils): prefix package and namespace with autoware (`#9251 <https://github.com/autowarefoundation/autoware.universe/issues/9251>`_)
+* feat(bpp): add velocity interface (`#9344 <https://github.com/autowarefoundation/autoware.universe/issues/9344>`_)
+  * feat(bpp): add velocity interface
+  * fix(adapi): subscribe additional velocity factors
+  ---------
+* refactor(factor): move steering factor interface to motion utils (`#9337 <https://github.com/autowarefoundation/autoware.universe/issues/9337>`_)
+* fix(bpp): update collided polygon pose only once (`#9338 <https://github.com/autowarefoundation/autoware.universe/issues/9338>`_)
+  * fix(bpp): update collided polygon pose only once
+  * add expected pose
+  ---------
+* refactor(bpp): rework steering factor interface (`#9325 <https://github.com/autowarefoundation/autoware.universe/issues/9325>`_)
+  * refactor(bpp): rework steering factor interface
+  * refactor(soa): rework steering factor interface
+  * refactor(AbLC): rework steering factor interface
+  * refactor(doa): rework steering factor interface
+  * refactor(lc): rework steering factor interface
+  * refactor(gp): rework steering factor interface
+  * refactor(sp): rework steering factor interface
+  * refactor(sbp): rework steering factor interface
+  * refactor(ss): rework steering factor interface
+  ---------
+* test(bpp_common): add tests for the static drivable area (`#9324 <https://github.com/autowarefoundation/autoware.universe/issues/9324>`_)
+* feat(goal_planner): safety check with only parking path (`#9293 <https://github.com/autowarefoundation/autoware.universe/issues/9293>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(behavior_path_planner_common): use boost intersects instead of overlaps (`#9289 <https://github.com/autowarefoundation/autoware.universe/issues/9289>`_)
+  * fix(behavior_path_planner_common): use boost intersects instead of overlaps
+  * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp
+  Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com>
+  ---------
+  Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com>
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(bpp): prevent accessing nullopt (`#9269 <https://github.com/autowarefoundation/autoware.universe/issues/9269>`_)
+* test(behavior_path_planner_common): add unit test for path shifter (`#9239 <https://github.com/autowarefoundation/autoware.universe/issues/9239>`_)
+  * add unit test for path shifter
+  * fix unnecessary modification
+  * fix spelling mistake
+  * add docstring
+  ---------
+* test(bpp_common): add unit test for safety check (`#9223 <https://github.com/autowarefoundation/autoware.universe/issues/9223>`_)
+  * add test for object collision
+  * add test for more functions
+  * add docstring
+  * fix lane change
+  ---------
+* fix(bpp): prevent accessing nullopt (`#9204 <https://github.com/autowarefoundation/autoware.universe/issues/9204>`_)
+  fix(bpp): calcDistanceToRedTrafficLight null
+* Contributors: Esteve Fernandez, Felix F Xu, Fumiya Watanabe, Go Sakayori, Kosuke Takeuchi, M. Fatih Cırıt, Maxime CLEMENT, Ryohsuke Mitsudome, Satoshi OTA, Shumpei Wakabayashi, Yutaka Kondo, Zulfaqar Azmi, mkquda
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
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
index 40506ad74a274..f23a9980f1237 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_path_planner_common</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_path_planner_common package</description>
 
   <!-- turn signal decider -->
diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst
index e823e6501df47..73fd1b4c7532a 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst
+++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst
@@ -2,6 +2,49 @@
 Changelog for package autoware_behavior_path_sampling_planner_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(autoware_behavior_path_sampling_planner_module): fix clang-diagnostic-unused-variable (`#9404 <https://github.com/autowarefoundation/autoware.universe/issues/9404>`_)
+  fix: clang-diagnostic-unused-variable
+* fix(autoware_behavior_path_sampling_planner_module): fix invalid parameter file (`#9231 <https://github.com/autowarefoundation/autoware.universe/issues/9231>`_)
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* refactor(bpp): rework steering factor interface (`#9325 <https://github.com/autowarefoundation/autoware.universe/issues/9325>`_)
+  * refactor(bpp): rework steering factor interface
+  * refactor(soa): rework steering factor interface
+  * refactor(AbLC): rework steering factor interface
+  * refactor(doa): rework steering factor interface
+  * refactor(lc): rework steering factor interface
+  * refactor(gp): rework steering factor interface
+  * refactor(sp): rework steering factor interface
+  * refactor(sbp): rework steering factor interface
+  * refactor(ss): rework steering factor interface
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_behavior_path_sampling_planner_module): fix cppcheck unusedVariable (`#9190 <https://github.com/autowarefoundation/autoware.universe/issues/9190>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Yutaka Kondo, kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml
index cd609a9dee40f..a5d78061448ed 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_path_sampling_planner_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_path_sampling_planner_module package</description>
 
   <maintainer email="daniel.sanchez@tier4.jp">Daniel Sanchez</maintainer>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst
index 58ab621b9c925..6ed62ffc8b913 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst
+++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst
@@ -2,6 +2,47 @@
 Changelog for package autoware_behavior_path_side_shift_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* test(autoware_behavior_path_side_shift_module): add unit tests for util function (`#9540 <https://github.com/autowarefoundation/autoware.universe/issues/9540>`_)
+  test(side_shift_module): add unit tests
+* refactor(autoware_behavior_path_side_shift_module): refactor shift length retrieval and improve path orientation handling (`#9539 <https://github.com/autowarefoundation/autoware.universe/issues/9539>`_)
+  refactor(side_shift_module): refactor shift length retrieval and improve path orientation handling
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(bpp): rework steering factor interface (`#9325 <https://github.com/autowarefoundation/autoware.universe/issues/9325>`_)
+  * refactor(bpp): rework steering factor interface
+  * refactor(soa): rework steering factor interface
+  * refactor(AbLC): rework steering factor interface
+  * refactor(doa): rework steering factor interface
+  * refactor(lc): rework steering factor interface
+  * refactor(gp): rework steering factor interface
+  * refactor(sp): rework steering factor interface
+  * refactor(sbp): rework steering factor interface
+  * refactor(ss): rework steering factor interface
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kyoichi Sugahara, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml
index 6eac60c2411fd..9bc2b608381fa 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_path_side_shift_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_path_side_shift_module package</description>
 
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst
index cbf67c171ee03..0cb96bc9b3bf4 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst
+++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst
@@ -2,6 +2,70 @@
 Changelog for package autoware_behavior_path_start_planner_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* feat(behavior_path_planner): add detail text to virutal wall (`#9600 <https://github.com/autowarefoundation/autoware.universe/issues/9600>`_)
+  * feat(behavior_path_planner): add detail text to virutal wall
+  * goal is far
+  * pull over start pose is far
+  * fix lc build
+  * fix build
+  * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
+  ---------
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* fix(autoware_freespace_planner, autoware_freespace_planning_algorithms): modify freespace planner to use node clock instead of system clock (`#9152 <https://github.com/autowarefoundation/autoware.universe/issues/9152>`_)
+  * Modified the autoware_freespace_planner and autoware_freespace_planning_algorithms packages to use the node clock instead of rclcpp detached clock. This allows the module to make use of sim time. Previously during simulation the parking trajectory would have system time in trajectory header messages causing downstream issues like non-clearance of trajectory buffers in motion planning based on elapsed time.
+  * style(pre-commit): autofix
+  * Updated the freespace planner instantiation call in the path planning modules
+  * style(pre-commit): autofix
+  * Updated tests for the utility functions
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: Steven Brills <sbrills@oshkoshcorp.com>
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* fix(start_planner): use extended current lanes to fix turn signal issue (`#9487 <https://github.com/autowarefoundation/autoware.universe/issues/9487>`_)
+  fix current lanes issue
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(autoware_behavior_path_start_planner_module): fix clang-diagnostic-unused-variable (`#9405 <https://github.com/autowarefoundation/autoware.universe/issues/9405>`_)
+  fix: clang-diagnostic-unused-variable
+* feat(start_planner): output velocity factor (`#9347 <https://github.com/autowarefoundation/autoware.universe/issues/9347>`_)
+* refactor(bpp): rework steering factor interface (`#9325 <https://github.com/autowarefoundation/autoware.universe/issues/9325>`_)
+  * refactor(bpp): rework steering factor interface
+  * refactor(soa): rework steering factor interface
+  * refactor(AbLC): rework steering factor interface
+  * refactor(doa): rework steering factor interface
+  * refactor(lc): rework steering factor interface
+  * refactor(gp): rework steering factor interface
+  * refactor(sp): rework steering factor interface
+  * refactor(sbp): rework steering factor interface
+  * refactor(ss): rework steering factor interface
+  ---------
+* feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 <https://github.com/autowarefoundation/autoware.universe/issues/9309>`_)
+  speed up by updating polygons
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_behavior_path_start_planner_module): fix cppcheck unreadVariable (`#9277 <https://github.com/autowarefoundation/autoware.universe/issues/9277>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Yutaka Kondo, danielsanchezaran, kobayu858, stevenbrills
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml
index 97f1a8569b132..c7cabb403f164 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_path_start_planner_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_path_start_planner_module package</description>
 
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst
index 5d2af19f9ce2e..e162c187de824 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst
+++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst
@@ -2,6 +2,82 @@
 Changelog for package autoware_behavior_path_static_obstacle_avoidance_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* feat(behavior_path_planner): add detail text to virutal wall (`#9600 <https://github.com/autowarefoundation/autoware.universe/issues/9600>`_)
+  * feat(behavior_path_planner): add detail text to virutal wall
+  * goal is far
+  * pull over start pose is far
+  * fix lc build
+  * fix build
+  * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
+  ---------
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(autoware_behavior_path_static_obstacle_avoidance_module): add maintainer (`#9581 <https://github.com/autowarefoundation/autoware.universe/issues/9581>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* fix(avoidance): remove stop reason (`#9364 <https://github.com/autowarefoundation/autoware.universe/issues/9364>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* perf(static_obstacle_avoidance): use lanelet::utils instead of route handle for closest lanelet (`#9367 <https://github.com/autowarefoundation/autoware.universe/issues/9367>`_)
+  use lanelet::utils for performance improvement
+* perf(static_obstacle_avoidance): remove redundant calculation related to lanelet functions (`#9355 <https://github.com/autowarefoundation/autoware.universe/issues/9355>`_)
+  * add traffic light distance and modified goal allowance to avoidance data
+  * add closest lanelet related variable to avoidanceData structure
+  * use route handler for checking closest lanelet
+  * use std::optional
+  ---------
+* feat(avoidance): output velocity factor (`#9345 <https://github.com/autowarefoundation/autoware.universe/issues/9345>`_)
+* fix(static_obstacle_avoidance): override setInitState (`#9340 <https://github.com/autowarefoundation/autoware.universe/issues/9340>`_)
+  override setInitState
+* refactor(bpp): rework steering factor interface (`#9325 <https://github.com/autowarefoundation/autoware.universe/issues/9325>`_)
+  * refactor(bpp): rework steering factor interface
+  * refactor(soa): rework steering factor interface
+  * refactor(AbLC): rework steering factor interface
+  * refactor(doa): rework steering factor interface
+  * refactor(lc): rework steering factor interface
+  * refactor(gp): rework steering factor interface
+  * refactor(sp): rework steering factor interface
+  * refactor(sbp): rework steering factor interface
+  * refactor(ss): rework steering factor interface
+  ---------
+* refactor(static obstacle avoidance): remove redundant calculation (`#9326 <https://github.com/autowarefoundation/autoware.universe/issues/9326>`_)
+  * refactor bases on clang tidy
+  * refactor extend backward length
+  * mover redundant calculation in getRoadShoulderDistance
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* test(bpp_common): add unit test for safety check (`#9223 <https://github.com/autowarefoundation/autoware.universe/issues/9223>`_)
+  * add test for object collision
+  * add test for more functions
+  * add docstring
+  * fix lane change
+  ---------
+* feat(static_obstacle_avoidance): operator request for ambiguous vehicle (`#9205 <https://github.com/autowarefoundation/autoware.universe/issues/9205>`_)
+  * add operator request feature
+  * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
+  Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
+  ---------
+  Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Kosuke Takeuchi, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yukinari Hisaki, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml
index 00f0db2224d5b..5446e33073b13 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_path_static_obstacle_avoidance_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_path_static_obstacle_avoidance_module package</description>
 
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst
index 6c312d3f90cb8..0826b1f8193a6 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst
@@ -2,6 +2,38 @@
 Changelog for package autoware_behavior_velocity_blind_spot_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* ci(pre-commit): update cpplint to 2.0.0 (`#9557 <https://github.com/autowarefoundation/autoware.universe/issues/9557>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* refactor(blind_spot): move util functions outside of class (`#9544 <https://github.com/autowarefoundation/autoware.universe/issues/9544>`_)
+* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 <https://github.com/autowarefoundation/autoware.universe/issues/9452>`_)
+* chore(blind_spot): divide headers to include/ (`#9534 <https://github.com/autowarefoundation/autoware.universe/issues/9534>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(autoware_behavior_velocity_blind_spot_module): fix clang-diagnostic-unused-parameter (`#9406 <https://github.com/autowarefoundation/autoware.universe/issues/9406>`_)
+  fix: clang-diagnostic-unused-parameter
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo, awf-autoware-bot[bot], kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
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
index 1dd334f89c67f..a2ea4a82a884d 100644
--- 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
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_blind_spot_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_velocity_blind_spot_module package</description>
 
   <maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst
index 8663879cc095f..608d6ab37fdc4 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst
@@ -2,6 +2,37 @@
 Changelog for package autoware_behavior_velocity_crosswalk_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 <https://github.com/autowarefoundation/autoware.universe/issues/9452>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(crosswalk)!: delete wide crosswalk corresponding function (`#9329 <https://github.com/autowarefoundation/autoware.universe/issues/9329>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback (`#9234 <https://github.com/autowarefoundation/autoware.universe/issues/9234>`_)
+* test(crosswalk): add unit test (`#9228 <https://github.com/autowarefoundation/autoware.universe/issues/9228>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Satoshi OTA, Yuki TAKAGI, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
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
index 891a77e100435..6b939a7dd0be9 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_crosswalk_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_velocity_crosswalk_module package</description>
 
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst
index f53d95a981950..fc13807261e4f 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst
@@ -2,6 +2,44 @@
 Changelog for package autoware_behavior_velocity_detection_area_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 <https://github.com/autowarefoundation/autoware.universe/issues/9452>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 <https://github.com/autowarefoundation/autoware.universe/issues/9296>`_)
+  * feat(behavior_velocity_planner): replace first_stop_path_point_index
+  * add const
+  * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  ---------
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* feat(detection_area)!: add retruction feature (`#9255 <https://github.com/autowarefoundation/autoware.universe/issues/9255>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yuki TAKAGI, Yukinari Hisaki, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml
index 1bd4e05af8447..ff91cf40a32a6 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_detection_area_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_velocity_detection_area_module package</description>
 
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst
index 4bd9f8487b644..013fd3b9b54cb 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst
@@ -2,6 +2,46 @@
 Changelog for package autoware_behavior_velocity_intersection_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 <https://github.com/autowarefoundation/autoware.universe/issues/9452>`_)
+* refactor: correct spelling (`#9528 <https://github.com/autowarefoundation/autoware.universe/issues/9528>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(autoware_behavior_velocity_intersection_module): fix clang-diagnostic-unused-parameter (`#9409 <https://github.com/autowarefoundation/autoware.universe/issues/9409>`_)
+  fix: clang-diagnostic-unused-parameter
+* fix(autoware_behavior_velocity_intersection_module): fix clang-diagnostic-unused-lambda-capture (`#9407 <https://github.com/autowarefoundation/autoware.universe/issues/9407>`_)
+  fix: clang-diagnostic-unused-parameter
+* chore(autoware_behavior_velocity_intersection_module): include opencv as system (`#9330 <https://github.com/autowarefoundation/autoware.universe/issues/9330>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(bvp): remove expired module safely (`#9212 <https://github.com/autowarefoundation/autoware.universe/issues/9212>`_)
+  * fix(bvp): remove expired module safely
+  * fix: remove module id set
+  * fix: use itr to erase expired module
+  * fix: remove unused function
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Satoshi OTA, Yukinari Hisaki, Yutaka Kondo, kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml
index 16c7a13f21320..b056f71614da3 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_intersection_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_velocity_intersection_module package</description>
 
   <maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst
index 0d3e17d146747..3ad226a0a0f71 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst
@@ -2,6 +2,33 @@
 Changelog for package autoware_behavior_velocity_no_drivable_lane_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 <https://github.com/autowarefoundation/autoware.universe/issues/9452>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml
index 524aeec6d6c6d..3ac9bab0c2fdf 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_no_drivable_lane_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_velocity_no_drivable_lane_module package</description>
 
   <maintainer email="ahmed.ebrahim@leodrive.ai">Ahmed Ebrahim</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst
index de6f32656fe5b..177028582aceb 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst
@@ -2,6 +2,44 @@
 Changelog for package autoware_behavior_velocity_no_stopping_area_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 <https://github.com/autowarefoundation/autoware.universe/issues/9452>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 <https://github.com/autowarefoundation/autoware.universe/issues/9296>`_)
+  * feat(behavior_velocity_planner): replace first_stop_path_point_index
+  * add const
+  * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  ---------
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_behavior_velocity_no_stopping_area_module): fix cppcheck knownConditionTrueFalse (`#9189 <https://github.com/autowarefoundation/autoware.universe/issues/9189>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Ryuta Kambe, Yukinari Hisaki, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml
index 0873e3cd433d2..88fafeb5b90dc 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_no_stopping_area_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_velocity_no_stopping_area_module package</description>
 
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst
index 695f4a63e3ae0..e74a81a6a971a 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst
@@ -2,6 +2,33 @@
 Changelog for package autoware_behavior_velocity_occlusion_spot_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 <https://github.com/autowarefoundation/autoware.universe/issues/9452>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml
index 9ce05294f86ed..66cb33192fec0 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_occlusion_spot_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_velocity_occlusion_spot_module package</description>
 
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst
index eedb174bcd2c4..43eafef522dde 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst
@@ -2,6 +2,57 @@
 Changelog for package autoware_behavior_velocity_planner
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 <https://github.com/autowarefoundation/autoware.universe/issues/9452>`_)
+* refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (`#9470 <https://github.com/autowarefoundation/autoware.universe/issues/9470>`_)
+  * refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files
+  * Update planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py
+  Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com>
+  * fix
+  ---------
+  Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com>
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(autoware_behavior_velocity_planner): fix clang-diagnostic-format-security (`#9411 <https://github.com/autowarefoundation/autoware.universe/issues/9411>`_)
+  fix: clang-diagnostic-format-security
+* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 <https://github.com/autowarefoundation/autoware.universe/issues/9296>`_)
+  * feat(behavior_velocity_planner): replace first_stop_path_point_index
+  * add const
+  * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  ---------
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+* fix(bvp): remove callback group (`#9294 <https://github.com/autowarefoundation/autoware.universe/issues/9294>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(bvp): use polling subscriber (`#9242 <https://github.com/autowarefoundation/autoware.universe/issues/9242>`_)
+  * fix(bvp): use polling subscriber
+  * fix: use newest policy
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Satoshi OTA, Yukinari Hisaki, Yutaka Kondo, kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
index a7a892e521826..8ba8272712364 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_planner</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_velocity_planner package</description>
 
   <maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst
index c702d7b763653..efc6fd8e18cb6 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst
@@ -2,6 +2,66 @@
 Changelog for package autoware_behavior_velocity_planner_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* test(autoware_behavior_velocity_planner_common): refactor and test autoware_behavior_velocity_planner_common (`#9551 <https://github.com/autowarefoundation/autoware.universe/issues/9551>`_)
+  * test(autoware_behavior_velocity_planner_common): refactor and test autoware_behavior_velocity_planner_common
+  * remove nodiscard
+  * update
+  * fix
+  * fix
+  * update
+  ---------
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 <https://github.com/autowarefoundation/autoware.universe/issues/9452>`_)
+* refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (`#9470 <https://github.com/autowarefoundation/autoware.universe/issues/9470>`_)
+  * refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files
+  * Update planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py
+  Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com>
+  * fix
+  ---------
+  Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com>
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(autoware_behavior_velocity_planner_common): fix clang-diagnostic-unused-const-variable (`#9413 <https://github.com/autowarefoundation/autoware.universe/issues/9413>`_)
+  fix: clang-diagnostic-unused-const-variable
+* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 <https://github.com/autowarefoundation/autoware.universe/issues/9296>`_)
+  * feat(behavior_velocity_planner): replace first_stop_path_point_index
+  * add const
+  * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  ---------
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(bvp): remove expired module safely (`#9212 <https://github.com/autowarefoundation/autoware.universe/issues/9212>`_)
+  * fix(bvp): remove expired module safely
+  * fix: remove module id set
+  * fix: use itr to erase expired module
+  * fix: remove unused function
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Satoshi OTA, Yukinari Hisaki, Yutaka Kondo, kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml
index 1e309ebd1caee..77b26aac09161 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_planner_common</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_velocity_planner_common package</description>
 
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst
index ae2df69a585c0..eaf93783ae47a 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst
@@ -2,6 +2,56 @@
 Changelog for package autoware_behavior_velocity_run_out_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 <https://github.com/autowarefoundation/autoware.universe/issues/9452>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(behavior_velocity_planner): update velocity factor initialization for run out module (`#9352 <https://github.com/autowarefoundation/autoware.universe/issues/9352>`_)
+  feat(behavior_velocity_planner): update velocity factor initialization
+  Update the initialization of the velocity factor in the RunOutModule of the behavior_velocity_planner. The velocity factor is now initialized for the RUN_OUT behavior instead of the ROUTE_OBSTACLE behavior.
+* fix(autoware_behavior_velocity_run_out_module): fix clang-diagnostic-unused-lambda-capture (`#9416 <https://github.com/autowarefoundation/autoware.universe/issues/9416>`_)
+  fix: clang-diagnostic-unused-lambda-capture
+* feat(run_out_module): add tests to run out (`#9222 <https://github.com/autowarefoundation/autoware.universe/issues/9222>`_)
+  * WIP add tests for utils and path_utils
+  * add tests for utils and fix test path utils
+  * dynamic obstacles
+  * new tests and add function declarations
+  * add points for test of extractObstaclePointsWithinPolygon
+  * add state machine tests and other tests for dynamic obstacle
+  * remove unused test checks
+  * remove unused tests
+  * remove unwanted semicolons
+  * test
+  * add comments
+  * solve cpp-check limitation issue by removing namespaces
+  ---------
+* fix(run_out): output velocity factor (`#9319 <https://github.com/autowarefoundation/autoware.universe/issues/9319>`_)
+  * fix(run_out): output velocity factor
+  * fix(adapi): subscribe run out velocity factor
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kyoichi Sugahara, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo, danielsanchezaran, kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml
index a5374f0e37bde..90e1d32198854 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_run_out_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_velocity_run_out_module package</description>
 
   <maintainer email="tomohito.ando@tier4.jp">Tomohito Ando</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst
index d21af6839aaab..f0a53b8d7124d 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst
@@ -2,6 +2,33 @@
 Changelog for package autoware_behavior_velocity_speed_bump_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 <https://github.com/autowarefoundation/autoware.universe/issues/9452>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml
index 6560a51b3a026..4940460ba52c1 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_speed_bump_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_velocity_speed_bump_module package</description>
 
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst
index 0fa84098defb2..c24c67ff81108 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst
@@ -2,6 +2,56 @@
 Changelog for package autoware_behavior_velocity_stop_line_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(autoware_behavior_velocity_stop_line_module): remove unused function (`#9591 <https://github.com/autowarefoundation/autoware.universe/issues/9591>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 <https://github.com/autowarefoundation/autoware.universe/issues/9452>`_)
+* refactor(autoware_behavior_velocity_stop_line_module): refactor and test (`#9424 <https://github.com/autowarefoundation/autoware.universe/issues/9424>`_)
+  * refactor(autoware_behavior_velocity_stop_line_module): refactor and test
+  * modify
+  * small changes
+  * update
+  * fix test error
+  * update
+  ---------
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(autoware_behavior_velocity_stop_line_module): add maintainer (`#9427 <https://github.com/autowarefoundation/autoware.universe/issues/9427>`_)
+* feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory (`#9299 <https://github.com/autowarefoundation/autoware.universe/issues/9299>`_)
+  * feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory
+  * update
+  ---------
+* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 <https://github.com/autowarefoundation/autoware.universe/issues/9296>`_)
+  * feat(behavior_velocity_planner): replace first_stop_path_point_index
+  * add const
+  * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  ---------
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Ryuta Kambe, Yukinari Hisaki, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml
index 7489e03c6ead0..fd4b9f83ae998 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_stop_line_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_velocity_stop_line_module package</description>
 
   <maintainer email="yukinari.hisaki.2@tier4.jp">Yukinari Hisaki</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst
index a1a2e65e5d749..4fb540814a9f1 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_behavior_velocity_template_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 <https://github.com/autowarefoundation/autoware.universe/issues/9452>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml
index 2cae84e19929f..e808e7758bd65 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_template_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_velocity_template_module package</description>
 
   <maintainer email="daniel.sanchez@tier4.jp">Daniel Sanchez</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst
index 1ae51ad5bf695..669882a37bbce 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst
@@ -2,6 +2,52 @@
 Changelog for package autoware_behavior_velocity_traffic_light_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* ci(pre-commit): autoupdate (`#8949 <https://github.com/autowarefoundation/autoware.universe/issues/8949>`_)
+  Co-authored-by: M. Fatih Cırıt <mfc@autoware.org>
+* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 <https://github.com/autowarefoundation/autoware.universe/issues/9452>`_)
+* refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (`#9470 <https://github.com/autowarefoundation/autoware.universe/issues/9470>`_)
+  * refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files
+  * Update planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py
+  Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com>
+  * fix
+  ---------
+  Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com>
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(traffic_light_utils): prefix package and namespace with autoware (`#9251 <https://github.com/autowarefoundation/autoware.universe/issues/9251>`_)
+* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 <https://github.com/autowarefoundation/autoware.universe/issues/9296>`_)
+  * feat(behavior_velocity_planner): replace first_stop_path_point_index
+  * add const
+  * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+  ---------
+  Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yukinari Hisaki, Yutaka Kondo, awf-autoware-bot[bot]
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml
index 0ded242b6a3cf..082973d9431e5 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_traffic_light_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_velocity_traffic_light_module package</description>
 
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst
index c0b26562f584c..731c1967b5a1d 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst
@@ -2,6 +2,33 @@
 Changelog for package autoware_behavior_velocity_virtual_traffic_light_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 <https://github.com/autowarefoundation/autoware.universe/issues/9452>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml
index 581d03e71c06d..6d3bc68242d7c 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_virtual_traffic_light_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_velocity_virtual_traffic_light_module package</description>
 
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst
index 69ea69091532b..40a8bcf82e7b9 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst
@@ -2,6 +2,35 @@
 Changelog for package autoware_behavior_velocity_walkway_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 <https://github.com/autowarefoundation/autoware.universe/issues/9452>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(autoware_behavior_velocity_walkway_module): fix clang-diagnostic-unused-lambda-capture (`#9415 <https://github.com/autowarefoundation/autoware.universe/issues/9415>`_)
+  fix: clang-diagnostic-unused-lambda-capture
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml
index 9c706e3e13cd0..5f1aea22855a4 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_behavior_velocity_walkway_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_behavior_velocity_walkway_module package</description>
 
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst
index e05c363a76192..118b555408997 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_motion_velocity_dynamic_obstacle_stop_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml
index e66fb82704c05..eef7b6af1f9af 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_motion_velocity_dynamic_obstacle_stop_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>dynamic_obstacle_stop module to stop ego when in the immediate path of a dynamic object</description>
 
   <maintainer email="maxime.clement@tier4.jp">Maxime Clement</maintainer>
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst
index 844d4425a6afd..c1310671d02fa 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_motion_velocity_obstacle_velocity_limiter_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml
index 268f331f86423..68e2ead5a5ec7 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_motion_velocity_obstacle_velocity_limiter_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Package to adjust velocities of a trajectory in order for the ride to feel safe</description>
 
   <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst
index 57a3918601976..4fe77d0532fce 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst
@@ -2,6 +2,34 @@
 Changelog for package autoware_motion_velocity_out_of_lane_module
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(traffic_light_utils): prefix package and namespace with autoware (`#9251 <https://github.com/autowarefoundation/autoware.universe/issues/9251>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(out_of_lane): correct calculations of the stop pose (`#9209 <https://github.com/autowarefoundation/autoware.universe/issues/9209>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Maxime CLEMENT, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml
index 4001136b72ec0..857716819d8cc 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_motion_velocity_out_of_lane_module</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The motion_velocity_out_of_lane_module package</description>
 
   <maintainer email="maxime.clement@tier4.jp">Maxime Clement</maintainer>
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst
index 3b353111d1055..50db2374baedc 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_motion_velocity_planner_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml
index 650b3308d508b..3f0c027a5c986 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_motion_velocity_planner_common</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Common functions and interfaces for motion_velocity_planner modules</description>
 
   <maintainer email="maxime.clement@tier4.jp">Maxime Clement</maintainer>
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst
index 01fb10df7bd64..4a6dc3095391f 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst
@@ -2,6 +2,56 @@
 Changelog for package autoware_motion_velocity_planner_node
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 <https://github.com/autowarefoundation/autoware.universe/issues/9180>`_)
+  * first commit
+  * fix building errs.
+  * change diagnostic messages to metric messages for publishing decision.
+  * fix bug about motion_velocity_planner
+  * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner.
+  * tmp save for planning_evaluator
+  * change the topic to which metrics published to.
+  * fix typo.
+  * remove unnesessary publishing of metrics.
+  * mke planning_evaluator publish msg of MetricArray instead of Diags.
+  * update aeb with metric type for decision.
+  * fix some bug
+  * remove autoware_evaluator_utils package.
+  * remove diagnostic_msgs dependency of planning_evaluator
+  * use metric_msgs for autoware_processing_time_checker.
+  * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs.
+  * pre-commit and fix typo
+  * publish metrics even if there is no metric in the MetricArray.
+  * modify the metric name of processing_time.
+  * update unit test for test_planning/control_evaluator
+  * manual pre-commit
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml
index a28a24d4dae49..186140cba6e3c 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_motion_velocity_planner_node</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Node of the motion_velocity_planner</description>
 
   <maintainer email="maxime.clement@tier4.jp">Maxime Clement</maintainer>
diff --git a/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst b/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst
index b3ab3bb13aa3c..fa7e4a3bb0808 100644
--- a/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst
+++ b/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_bezier_sampler
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/sampling_based_planner/autoware_bezier_sampler/package.xml b/planning/sampling_based_planner/autoware_bezier_sampler/package.xml
index 9da456248f0ce..249d64d770af5 100644
--- a/planning/sampling_based_planner/autoware_bezier_sampler/package.xml
+++ b/planning/sampling_based_planner/autoware_bezier_sampler/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_bezier_sampler</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Package to sample trajectories using Bézier curves</description>
   <author email="maxime.clement@tier4.jp">Maxime CLEMENT</author>
   <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
diff --git a/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst b/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst
index e0123b1de0bd7..eff4108b3fc03 100644
--- a/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst
+++ b/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_frenet_planner
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/sampling_based_planner/autoware_frenet_planner/package.xml b/planning/sampling_based_planner/autoware_frenet_planner/package.xml
index 11608baabeb76..cd5febc3267db 100644
--- a/planning/sampling_based_planner/autoware_frenet_planner/package.xml
+++ b/planning/sampling_based_planner/autoware_frenet_planner/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_frenet_planner</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_frenet_planner package for trajectory generation in Frenet frame</description>
   <author email="maxime.clement@tier4.jp">Maxime CLEMENT</author>
   <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
diff --git a/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst b/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst
index 33fb5a66d1ed6..a50f2a0ad3aed 100644
--- a/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst
+++ b/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst
@@ -2,6 +2,33 @@
 Changelog for package autoware_path_sampler
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(fake_test_node): prefix package and namespace with autoware (`#9249 <https://github.com/autowarefoundation/autoware.universe/issues/9249>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/sampling_based_planner/autoware_path_sampler/package.xml b/planning/sampling_based_planner/autoware_path_sampler/package.xml
index 8f27509d27f67..142eafdfa4bfe 100644
--- a/planning/sampling_based_planner/autoware_path_sampler/package.xml
+++ b/planning/sampling_based_planner/autoware_path_sampler/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_path_sampler</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Package for the sampling-based path planner</description>
   <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
   <license>Apache License 2.0</license>
diff --git a/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst b/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst
index d07a47c0c4629..7e0eaaf4e7376 100644
--- a/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst
+++ b/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst
@@ -2,6 +2,33 @@
 Changelog for package autoware_sampler_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - planning (`#9570 <https://github.com/autowarefoundation/autoware.universe/issues/9570>`_)
+* refactor: correct spelling (`#9528 <https://github.com/autowarefoundation/autoware.universe/issues/9528>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/planning/sampling_based_planner/autoware_sampler_common/package.xml b/planning/sampling_based_planner/autoware_sampler_common/package.xml
index b5b4ab3bd9dc8..eb08c8125d3ee 100644
--- a/planning/sampling_based_planner/autoware_sampler_common/package.xml
+++ b/planning/sampling_based_planner/autoware_sampler_common/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_sampler_common</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Common classes and functions for sampling based planners</description>
   <author email="maxime.clement@tier4.jp">Maxime CLEMENT</author>
   <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
diff --git a/sensing/autoware_cuda_utils/CHANGELOG.rst b/sensing/autoware_cuda_utils/CHANGELOG.rst
index 64b78ebc94eee..92a99bc8d3267 100644
--- a/sensing/autoware_cuda_utils/CHANGELOG.rst
+++ b/sensing/autoware_cuda_utils/CHANGELOG.rst
@@ -1,6 +1,36 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package autoware_cuda_utils
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix: fix package names in changelog files (`#9500 <https://github.com/autowarefoundation/autoware.universe/issues/9500>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* Revert "refactor(sensing): move CUDA related packages to `sensing/cuda` directory" (`#9394 <https://github.com/autowarefoundation/autoware.universe/issues/9394>`_)
+  Revert "refactor(sensing): move CUDA related packages to `sensing/cuda` direc…"
+  This reverts commit be8235d785597c41d01782ec35da862ba0906578.
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 <https://github.com/autowarefoundation/autoware.universe/issues/9171>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
 
 0.39.0 (2024-11-25)
 -------------------
diff --git a/sensing/autoware_cuda_utils/package.xml b/sensing/autoware_cuda_utils/package.xml
index 817aa395092aa..32a29133201ec 100644
--- a/sensing/autoware_cuda_utils/package.xml
+++ b/sensing/autoware_cuda_utils/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_cuda_utils</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>cuda utility library</description>
 
   <author email="daisuke.nishimatsu@tier4.jp">Daisuke Nishimatsu</author>
diff --git a/sensing/autoware_gnss_poser/CHANGELOG.rst b/sensing/autoware_gnss_poser/CHANGELOG.rst
index 25713471aacbd..8195195c9b15c 100644
--- a/sensing/autoware_gnss_poser/CHANGELOG.rst
+++ b/sensing/autoware_gnss_poser/CHANGELOG.rst
@@ -2,6 +2,34 @@
 Changelog for package autoware_gnss_poser
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 <https://github.com/autowarefoundation/autoware.universe/issues/9392>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/sensing/autoware_gnss_poser/package.xml b/sensing/autoware_gnss_poser/package.xml
index 8304229b18a05..6414ccbabca3f 100644
--- a/sensing/autoware_gnss_poser/package.xml
+++ b/sensing/autoware_gnss_poser/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_gnss_poser</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The ROS 2 autoware_gnss_poser package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
diff --git a/sensing/autoware_image_diagnostics/CHANGELOG.rst b/sensing/autoware_image_diagnostics/CHANGELOG.rst
index db6df3ceedc67..1486e459e4754 100644
--- a/sensing/autoware_image_diagnostics/CHANGELOG.rst
+++ b/sensing/autoware_image_diagnostics/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_image_diagnostics
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - sensing (`#9571 <https://github.com/autowarefoundation/autoware.universe/issues/9571>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/sensing/autoware_image_diagnostics/package.xml b/sensing/autoware_image_diagnostics/package.xml
index 48109cfd22e91..2e4556de2b92b 100644
--- a/sensing/autoware_image_diagnostics/package.xml
+++ b/sensing/autoware_image_diagnostics/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_image_diagnostics</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_image_diagnostics package</description>
   <maintainer email="dai.nguyen@tier4.jp">Dai Nguyen</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/sensing/autoware_image_transport_decompressor/CHANGELOG.rst b/sensing/autoware_image_transport_decompressor/CHANGELOG.rst
index fb82afbff8fe9..57968c49291c0 100644
--- a/sensing/autoware_image_transport_decompressor/CHANGELOG.rst
+++ b/sensing/autoware_image_transport_decompressor/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_image_transport_decompressor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/sensing/autoware_image_transport_decompressor/package.xml b/sensing/autoware_image_transport_decompressor/package.xml
index 22766b6582631..0ee5a60b2f46e 100644
--- a/sensing/autoware_image_transport_decompressor/package.xml
+++ b/sensing/autoware_image_transport_decompressor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_image_transport_decompressor</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The image_transport_decompressor package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="kenzo.lobos@tier4.jp">Kenzo Lobos-Tsunekawa</maintainer>
diff --git a/sensing/autoware_imu_corrector/CHANGELOG.rst b/sensing/autoware_imu_corrector/CHANGELOG.rst
index 926cd3a195e0f..fe36ee24880e0 100644
--- a/sensing/autoware_imu_corrector/CHANGELOG.rst
+++ b/sensing/autoware_imu_corrector/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_imu_corrector
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - sensing (`#9571 <https://github.com/autowarefoundation/autoware.universe/issues/9571>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/sensing/autoware_imu_corrector/package.xml b/sensing/autoware_imu_corrector/package.xml
index e32814af99863..94a2e3fe83071 100644
--- a/sensing/autoware_imu_corrector/package.xml
+++ b/sensing/autoware_imu_corrector/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_imu_corrector</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The ROS 2 autoware_imu_corrector package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="taiki.yamada@tier4.jp">Taiki Yamada</maintainer>
diff --git a/sensing/autoware_pcl_extensions/CHANGELOG.rst b/sensing/autoware_pcl_extensions/CHANGELOG.rst
index ef8cc108086b5..56c9f0bdff0dc 100644
--- a/sensing/autoware_pcl_extensions/CHANGELOG.rst
+++ b/sensing/autoware_pcl_extensions/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_pcl_extensions
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/sensing/autoware_pcl_extensions/package.xml b/sensing/autoware_pcl_extensions/package.xml
index a141ebb31223f..840bd976b5b5f 100644
--- a/sensing/autoware_pcl_extensions/package.xml
+++ b/sensing/autoware_pcl_extensions/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_pcl_extensions</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_pcl_extensions package</description>
   <maintainer email="ryu.yamamoto@tier4.jp">Ryu Yamamoto</maintainer>
   <maintainer email="kenzo.lobos@tier4.jp">Kenzo Lobos Tsunekawa</maintainer>
diff --git a/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst b/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst
index 6812ad076e60f..ad1ce2aaf8464 100644
--- a/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst
+++ b/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst
@@ -2,6 +2,50 @@
 Changelog for package autoware_pointcloud_preprocessor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - sensing (`#9571 <https://github.com/autowarefoundation/autoware.universe/issues/9571>`_)
+* fix(autoware_pointcloud_preprocessor): remove unused arg and unavailable param file. (`#9525 <https://github.com/autowarefoundation/autoware.universe/issues/9525>`_)
+  Remove unused arg and unavailable param file.
+* fix(autoware_pointcloud_preprocessor): fix clang-diagnostic-inconsistent-missing-override (`#9445 <https://github.com/autowarefoundation/autoware.universe/issues/9445>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore: update license of pointcloud preprocessor (`#9397 <https://github.com/autowarefoundation/autoware.universe/issues/9397>`_)
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* fix(autoware_pointcloud_preprocessor): clang-tidy error in distortion corrector (`#9412 <https://github.com/autowarefoundation/autoware.universe/issues/9412>`_)
+  fix: clang-tidy
+* fix(autoware_pointcloud_preprocessor): clang-tidy for overrides (`#9414 <https://github.com/autowarefoundation/autoware.universe/issues/9414>`_)
+  fix: clang-tidy for overrides
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_pointcloud_preprocessor): fix the wrong naming of crop box parameter file  (`#9258 <https://github.com/autowarefoundation/autoware.universe/issues/9258>`_)
+  fix: fix the wrong file name
+* fix(autoware_pointcloud_preprocessor): launch file load parameter from yaml (`#8129 <https://github.com/autowarefoundation/autoware.universe/issues/8129>`_)
+  * feat: fix launch file
+  * chore: fix spell error
+  * chore: fix parameters file name
+  * chore: remove filter base
+  ---------
+* Contributors: Daisuke Nishimatsu, Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mukunda Bharatheesha, Ryohsuke Mitsudome, Ryuta Kambe, Yi-Hsiang Fang (Vivid), Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/sensing/autoware_pointcloud_preprocessor/package.xml b/sensing/autoware_pointcloud_preprocessor/package.xml
index 20643d66d364c..4511c5497a3a0 100644
--- a/sensing/autoware_pointcloud_preprocessor/package.xml
+++ b/sensing/autoware_pointcloud_preprocessor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_pointcloud_preprocessor</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The ROS 2 autoware_pointcloud_preprocessor package</description>
   <maintainer email="abrahammonrroy@yahoo.com">amc-nu</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
diff --git a/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst b/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst
index 8524887c25bff..4d92b7237c281 100644
--- a/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst
+++ b/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_radar_scan_to_pointcloud2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/sensing/autoware_radar_scan_to_pointcloud2/package.xml b/sensing/autoware_radar_scan_to_pointcloud2/package.xml
index 9dae0e583bc43..b14615cfb68ea 100644
--- a/sensing/autoware_radar_scan_to_pointcloud2/package.xml
+++ b/sensing/autoware_radar_scan_to_pointcloud2/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_radar_scan_to_pointcloud2</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>autoware_radar_scan_to_pointcloud2</description>
   <maintainer email="satoshi.tanaka@tier4.jp">Satoshi Tanaka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst b/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst
index eba58b0fb6278..b66f99ba578a6 100644
--- a/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst
+++ b/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_radar_static_pointcloud_filter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/sensing/autoware_radar_static_pointcloud_filter/package.xml b/sensing/autoware_radar_static_pointcloud_filter/package.xml
index f685147f9d0a4..943bd71f29da7 100644
--- a/sensing/autoware_radar_static_pointcloud_filter/package.xml
+++ b/sensing/autoware_radar_static_pointcloud_filter/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_radar_static_pointcloud_filter</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>autoware_radar_static_pointcloud_filter</description>
   <maintainer email="satoshi.tanaka@tier4.jp">Satoshi Tanaka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/sensing/autoware_radar_threshold_filter/CHANGELOG.rst b/sensing/autoware_radar_threshold_filter/CHANGELOG.rst
index ef65bcc5f4fe4..e217daeca5a35 100644
--- a/sensing/autoware_radar_threshold_filter/CHANGELOG.rst
+++ b/sensing/autoware_radar_threshold_filter/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_radar_threshold_filter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/sensing/autoware_radar_threshold_filter/package.xml b/sensing/autoware_radar_threshold_filter/package.xml
index 3127153fd9e30..5e2a5395168fb 100644
--- a/sensing/autoware_radar_threshold_filter/package.xml
+++ b/sensing/autoware_radar_threshold_filter/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_radar_threshold_filter</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>autoware_radar_threshold_filter</description>
   <maintainer email="satoshi.tanaka@tier4.jp">Satoshi Tanaka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst b/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst
index 29ff75fddd69a..c11a0fde76832 100644
--- a/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst
+++ b/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_radar_tracks_noise_filter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - sensing (`#9571 <https://github.com/autowarefoundation/autoware.universe/issues/9571>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/sensing/autoware_radar_tracks_noise_filter/package.xml b/sensing/autoware_radar_tracks_noise_filter/package.xml
index af8db58a86567..d674e88e19a1a 100644
--- a/sensing/autoware_radar_tracks_noise_filter/package.xml
+++ b/sensing/autoware_radar_tracks_noise_filter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_radar_tracks_noise_filter</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>autoware_radar_tracks_noise_filter</description>
   <maintainer email="satoshi.tanaka@tier4.jp">Sathshi Tanaka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
diff --git a/sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst b/sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst
index 9f4f9e3e96395..004b045a12494 100644
--- a/sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst
+++ b/sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst
@@ -2,6 +2,24 @@
 Changelog for package vehicle_velocity_converter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* refactor(vehicle_velocity_converter)!: prefix package and namespace with autoware (`#8967 <https://github.com/autowarefoundation/autoware.universe/issues/8967>`_)
+  * add autoware prefix
+  * fix conflict
+  ---------
+  Co-authored-by: Yamato Ando <yamato.ando@gmail.com>
+* Contributors: Fumiya Watanabe, Masaki Baba, Ryohsuke Mitsudome
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/sensing/autoware_vehicle_velocity_converter/package.xml b/sensing/autoware_vehicle_velocity_converter/package.xml
index ce4e36855a03a..cc5c555680562 100644
--- a/sensing/autoware_vehicle_velocity_converter/package.xml
+++ b/sensing/autoware_vehicle_velocity_converter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_vehicle_velocity_converter</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_vehicle_velocity_converter package</description>
   <maintainer email="ryu.yamamoto@tier4.jp">Ryu Yamamoto</maintainer>
   <license>Apache License 2.0</license>
diff --git a/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst b/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst
index 1721bb0e74007..e9e42a6e4e629 100644
--- a/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst
+++ b/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package autoware_livox_tag_filter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/sensing/livox/autoware_livox_tag_filter/package.xml b/sensing/livox/autoware_livox_tag_filter/package.xml
index adb2229745789..61555e186d1e1 100644
--- a/sensing/livox/autoware_livox_tag_filter/package.xml
+++ b/sensing/livox/autoware_livox_tag_filter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_livox_tag_filter</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_livox_tag_filter package</description>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
   <maintainer email="kenzo.lobos@tier4.jp">Kenzo Lobos-Tsunekawa</maintainer>
diff --git a/simulator/autoware_carla_interface/CHANGELOG.rst b/simulator/autoware_carla_interface/CHANGELOG.rst
index bdc1cc41bd5e0..d71cf66049c9d 100644
--- a/simulator/autoware_carla_interface/CHANGELOG.rst
+++ b/simulator/autoware_carla_interface/CHANGELOG.rst
@@ -2,6 +2,34 @@
 Changelog for package autoware_carla_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(autoware_carla_interface): include "modules" submodule in release package and update setup.py (`#9561 <https://github.com/autowarefoundation/autoware.universe/issues/9561>`_)
+* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 <https://github.com/autowarefoundation/autoware.universe/issues/9392>`_)
+* refactor: correct spelling (`#9528 <https://github.com/autowarefoundation/autoware.universe/issues/9528>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Jesus Armando Anaya, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/simulator/autoware_carla_interface/package.xml b/simulator/autoware_carla_interface/package.xml
index 215a7c778523f..1ea183cc86eb5 100644
--- a/simulator/autoware_carla_interface/package.xml
+++ b/simulator/autoware_carla_interface/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_carla_interface</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The carla autoware bridge package</description>
   <maintainer email="mradityagio@gmail.com">Muhammad Raditya GIOVANNI</maintainer>
   <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
diff --git a/simulator/autoware_carla_interface/setup.py b/simulator/autoware_carla_interface/setup.py
index 84f7a544555a2..4f06766582f6a 100644
--- a/simulator/autoware_carla_interface/setup.py
+++ b/simulator/autoware_carla_interface/setup.py
@@ -8,7 +8,7 @@
 
 setup(
     name=package_name,
-    version="0.38.0",
+    version="0.40.0",
     packages=find_packages(where="src"),
     data_files=[
         ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
diff --git a/simulator/dummy_perception_publisher/CHANGELOG.rst b/simulator/dummy_perception_publisher/CHANGELOG.rst
index d0483f9ebe480..50b2396ae0311 100644
--- a/simulator/dummy_perception_publisher/CHANGELOG.rst
+++ b/simulator/dummy_perception_publisher/CHANGELOG.rst
@@ -2,6 +2,33 @@
 Changelog for package dummy_perception_publisher
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - simulator (`#9572 <https://github.com/autowarefoundation/autoware.universe/issues/9572>`_)
+* fix(dummy_perception_publisher): fix clang-diagnostic-unused-private-field (`#9447 <https://github.com/autowarefoundation/autoware.universe/issues/9447>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/simulator/dummy_perception_publisher/package.xml b/simulator/dummy_perception_publisher/package.xml
index f2b60ce3ef857..4f78acd6c07f2 100644
--- a/simulator/dummy_perception_publisher/package.xml
+++ b/simulator/dummy_perception_publisher/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>dummy_perception_publisher</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The dummy_perception_publisher package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <license>Apache License 2.0</license>
diff --git a/simulator/fault_injection/CHANGELOG.rst b/simulator/fault_injection/CHANGELOG.rst
index 74ec3b4a867f4..6116bafaa2088 100644
--- a/simulator/fault_injection/CHANGELOG.rst
+++ b/simulator/fault_injection/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package fault_injection
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - simulator (`#9572 <https://github.com/autowarefoundation/autoware.universe/issues/9572>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/simulator/fault_injection/package.xml b/simulator/fault_injection/package.xml
index 25a5ceddd31be..feedcf3333f7f 100644
--- a/simulator/fault_injection/package.xml
+++ b/simulator/fault_injection/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>fault_injection</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>fault_injection</description>
   <maintainer email="keisuke.shima@tier4.jp">Keisuke Shima</maintainer>
   <license>Apache License 2.0</license>
diff --git a/simulator/learning_based_vehicle_model/CHANGELOG.rst b/simulator/learning_based_vehicle_model/CHANGELOG.rst
index b902713689ab1..ed271370a6840 100644
--- a/simulator/learning_based_vehicle_model/CHANGELOG.rst
+++ b/simulator/learning_based_vehicle_model/CHANGELOG.rst
@@ -2,6 +2,33 @@
 Changelog for package learning_based_vehicle_model
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - simulator (`#9572 <https://github.com/autowarefoundation/autoware.universe/issues/9572>`_)
+* fix(learning_based_vehicle_model): fix clang-diagnostic-delete-abstract-non-virtual-dtor (`#9446 <https://github.com/autowarefoundation/autoware.universe/issues/9446>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/simulator/learning_based_vehicle_model/package.xml b/simulator/learning_based_vehicle_model/package.xml
index 11b5b2f88db03..317be3d0990ca 100644
--- a/simulator/learning_based_vehicle_model/package.xml
+++ b/simulator/learning_based_vehicle_model/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>learning_based_vehicle_model</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>learning_based_vehicle_model for simple_planning_simulator</description>
   <maintainer email="maxime.clement@tier4.jp">Maxime Clement</maintainer>
   <maintainer email="nagy.tomas@tier4.jp">Tomas Nagy</maintainer>
diff --git a/simulator/simple_planning_simulator/CHANGELOG.rst b/simulator/simple_planning_simulator/CHANGELOG.rst
index 7b995d36dbf83..ac6e093ea55e7 100644
--- a/simulator/simple_planning_simulator/CHANGELOG.rst
+++ b/simulator/simple_planning_simulator/CHANGELOG.rst
@@ -2,6 +2,39 @@
 Changelog for package simple_planning_simulator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - simulator (`#9572 <https://github.com/autowarefoundation/autoware.universe/issues/9572>`_)
+* fix(simple_planning_simulator): fix clang-diagnostic-delete-non-abstract-non-virtual-dtor (`#9448 <https://github.com/autowarefoundation/autoware.universe/issues/9448>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(simple_planning_simulator): add mechanical actuaion sim model (`#9300 <https://github.com/autowarefoundation/autoware.universe/issues/9300>`_)
+  * feat(simple_planning_simulator): add mechanical actuaion sim model
+  update docs
+  * update from suggestions
+  * calc internal state using RK4 results
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/simulator/simple_planning_simulator/package.xml b/simulator/simple_planning_simulator/package.xml
index a6f86dd6e8a4b..fdc782182f9a5 100644
--- a/simulator/simple_planning_simulator/package.xml
+++ b/simulator/simple_planning_simulator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simple_planning_simulator</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>simple_planning_simulator as a ROS 2 node</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
diff --git a/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst b/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst
index 1d5b1d454a4a7..1157abff775ab 100644
--- a/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst
+++ b/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,34 @@
 Changelog for package tier4_dummy_object_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - simulator (`#9572 <https://github.com/autowarefoundation/autoware.universe/issues/9572>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix(tier4_dummy_object_rviz_plugin): fix missing dependency (`#9306 <https://github.com/autowarefoundation/autoware.universe/issues/9306>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/simulator/tier4_dummy_object_rviz_plugin/package.xml b/simulator/tier4_dummy_object_rviz_plugin/package.xml
index c5ef8a68eb98f..b73d3a1cc15c0 100644
--- a/simulator/tier4_dummy_object_rviz_plugin/package.xml
+++ b/simulator/tier4_dummy_object_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_dummy_object_rviz_plugin</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The tier4_dummy_object_rviz_plugin package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <license>Apache License 2.0</license>
diff --git a/simulator/vehicle_door_simulator/CHANGELOG.rst b/simulator/vehicle_door_simulator/CHANGELOG.rst
index 105292a8e63e1..3def98ed36995 100644
--- a/simulator/vehicle_door_simulator/CHANGELOG.rst
+++ b/simulator/vehicle_door_simulator/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package vehicle_door_simulator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/simulator/vehicle_door_simulator/package.xml b/simulator/vehicle_door_simulator/package.xml
index 008fcb9500bfe..ca9d7c98e691a 100644
--- a/simulator/vehicle_door_simulator/package.xml
+++ b/simulator/vehicle_door_simulator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>vehicle_door_simulator</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The vehicle_door_simulator package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <license>Apache License 2.0</license>
diff --git a/system/autoware_component_monitor/CHANGELOG.rst b/system/autoware_component_monitor/CHANGELOG.rst
index 224edb28d1c45..339f30f9f9f80 100644
--- a/system/autoware_component_monitor/CHANGELOG.rst
+++ b/system/autoware_component_monitor/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_component_monitor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* ci(pre-commit): update cpplint to 2.0.0 (`#9557 <https://github.com/autowarefoundation/autoware.universe/issues/9557>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo, awf-autoware-bot[bot]
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/system/autoware_component_monitor/package.xml b/system/autoware_component_monitor/package.xml
index 5655c495b0aa7..27432bc1fc0d6 100644
--- a/system/autoware_component_monitor/package.xml
+++ b/system/autoware_component_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_component_monitor</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>A ROS 2 package to monitor system usage of component containers.</description>
   <maintainer email="memin@leodrive.ai">Mehmet Emin Başoğlu</maintainer>
   <maintainer email="baris@leodrive.ai">Barış Zeren</maintainer>
diff --git a/system/autoware_default_adapi/CHANGELOG.rst b/system/autoware_default_adapi/CHANGELOG.rst
index 64f7326264a58..438ee15f16f61 100644
--- a/system/autoware_default_adapi/CHANGELOG.rst
+++ b/system/autoware_default_adapi/CHANGELOG.rst
@@ -2,6 +2,54 @@
 Changelog for package autoware_default_adapi
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - system (`#9573 <https://github.com/autowarefoundation/autoware.universe/issues/9573>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(bpp): add velocity interface (`#9344 <https://github.com/autowarefoundation/autoware.universe/issues/9344>`_)
+  * feat(bpp): add velocity interface
+  * fix(adapi): subscribe additional velocity factors
+  ---------
+* fix(run_out): output velocity factor (`#9319 <https://github.com/autowarefoundation/autoware.universe/issues/9319>`_)
+  * fix(run_out): output velocity factor
+  * fix(adapi): subscribe run out velocity factor
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 <https://github.com/autowarefoundation/autoware.universe/issues/9250>`_)
+  * refactor(autoware_ad_api_specs): prefix package and namespace with autoware
+  * style(pre-commit): autofix
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * style(pre-commit): autofix
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(autoware_default_adapi): change subscribing steering factor topic name for obstacle avoidance and lane changes (`#9273 <https://github.com/autowarefoundation/autoware.universe/issues/9273>`_)
+  feat(planning): add new steering factor topics for obstacle avoidance and lane changes
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kyoichi Sugahara, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/system/autoware_default_adapi/package.xml b/system/autoware_default_adapi/package.xml
index d04c476a45ae7..a24d0c8a30b62 100644
--- a/system/autoware_default_adapi/package.xml
+++ b/system/autoware_default_adapi/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_default_adapi</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_default_adapi package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
diff --git a/system/autoware_processing_time_checker/CHANGELOG.rst b/system/autoware_processing_time_checker/CHANGELOG.rst
index 96df106a6e4eb..39bf68af5f415 100644
--- a/system/autoware_processing_time_checker/CHANGELOG.rst
+++ b/system/autoware_processing_time_checker/CHANGELOG.rst
@@ -2,6 +2,62 @@
 Changelog for package autoware_processing_time_checker
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(autoware_processing_time_checker): fix typo (`#9504 <https://github.com/autowarefoundation/autoware.universe/issues/9504>`_)
+* feat(autoware_processing_time_checker): add a trigger to choice whether to output metrics to log folder (`#9479 <https://github.com/autowarefoundation/autoware.universe/issues/9479>`_)
+  * add output_metrics option.
+  * move param set from config to launch file.
+  * fix bug.
+  ---------
+* feat(processing_time_checker): update processing time list (`#9350 <https://github.com/autowarefoundation/autoware.universe/issues/9350>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 <https://github.com/autowarefoundation/autoware.universe/issues/9180>`_)
+  * first commit
+  * fix building errs.
+  * change diagnostic messages to metric messages for publishing decision.
+  * fix bug about motion_velocity_planner
+  * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner.
+  * tmp save for planning_evaluator
+  * change the topic to which metrics published to.
+  * fix typo.
+  * remove unnesessary publishing of metrics.
+  * mke planning_evaluator publish msg of MetricArray instead of Diags.
+  * update aeb with metric type for decision.
+  * fix some bug
+  * remove autoware_evaluator_utils package.
+  * remove diagnostic_msgs dependency of planning_evaluator
+  * use metric_msgs for autoware_processing_time_checker.
+  * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs.
+  * pre-commit and fix typo
+  * publish metrics even if there is no metric in the MetricArray.
+  * modify the metric name of processing_time.
+  * update unit test for test_planning/control_evaluator
+  * manual pre-commit
+  ---------
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Kazunori-Nakajima, Kem (TiankuiXian), Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/system/autoware_processing_time_checker/package.xml b/system/autoware_processing_time_checker/package.xml
index 17b4599197407..4a18857663cc1 100644
--- a/system/autoware_processing_time_checker/package.xml
+++ b/system/autoware_processing_time_checker/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_processing_time_checker</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>A package to find out nodes with common names</description>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
diff --git a/system/bluetooth_monitor/CHANGELOG.rst b/system/bluetooth_monitor/CHANGELOG.rst
index 96056c8907c86..25b55a9bdcc6f 100644
--- a/system/bluetooth_monitor/CHANGELOG.rst
+++ b/system/bluetooth_monitor/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package bluetooth_monitor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - system (`#9573 <https://github.com/autowarefoundation/autoware.universe/issues/9573>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/system/bluetooth_monitor/package.xml b/system/bluetooth_monitor/package.xml
index dfa77dd303427..f43db39e987b7 100644
--- a/system/bluetooth_monitor/package.xml
+++ b/system/bluetooth_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bluetooth_monitor</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Bluetooth alive monitoring</description>
   <maintainer email="fumihito.ito@tier4.jp">Fumihito Ito</maintainer>
   <license>Apache License 2.0</license>
diff --git a/system/component_state_monitor/CHANGELOG.rst b/system/component_state_monitor/CHANGELOG.rst
index 97281628626c3..40843314ddf4a 100644
--- a/system/component_state_monitor/CHANGELOG.rst
+++ b/system/component_state_monitor/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package component_state_monitor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - system (`#9573 <https://github.com/autowarefoundation/autoware.universe/issues/9573>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/system/component_state_monitor/package.xml b/system/component_state_monitor/package.xml
index 60dde0d93581b..b92dd4af9517f 100644
--- a/system/component_state_monitor/package.xml
+++ b/system/component_state_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>component_state_monitor</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The component_state_monitor package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <license>Apache License 2.0</license>
diff --git a/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst b/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst
index c60bb8204eb3e..b0d8f9b49cd59 100644
--- a/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst
+++ b/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst
@@ -2,6 +2,42 @@
 Changelog for package ad_api_adaptors
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 <https://github.com/autowarefoundation/autoware.universe/issues/9250>`_)
+  * refactor(autoware_ad_api_specs): prefix package and namespace with autoware
+  * style(pre-commit): autofix
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * style(pre-commit): autofix
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/system/default_ad_api_helpers/ad_api_adaptors/package.xml b/system/default_ad_api_helpers/ad_api_adaptors/package.xml
index c91edb9232444..4fe6390df77e0 100644
--- a/system/default_ad_api_helpers/ad_api_adaptors/package.xml
+++ b/system/default_ad_api_helpers/ad_api_adaptors/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ad_api_adaptors</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The ad_api_adaptors package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
diff --git a/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst b/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst
index 5961ee96c28d1..d44fe830e75db 100644
--- a/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst
+++ b/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package ad_api_visualizers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/system/default_ad_api_helpers/ad_api_visualizers/package.xml b/system/default_ad_api_helpers/ad_api_visualizers/package.xml
index b05fe7222b923..2392cfaaface1 100644
--- a/system/default_ad_api_helpers/ad_api_visualizers/package.xml
+++ b/system/default_ad_api_helpers/ad_api_visualizers/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ad_api_visualizers</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The ad_api_visualizers package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
diff --git a/system/default_ad_api_helpers/ad_api_visualizers/setup.py b/system/default_ad_api_helpers/ad_api_visualizers/setup.py
index b088271ba74a7..ee4cf253b5288 100644
--- a/system/default_ad_api_helpers/ad_api_visualizers/setup.py
+++ b/system/default_ad_api_helpers/ad_api_visualizers/setup.py
@@ -11,7 +11,7 @@
 
 setup(
     name=package_name,
-    version="0.39.0",
+    version="0.40.0",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst b/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst
index 795fe18c58e29..819a580c87f43 100644
--- a/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst
+++ b/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst
@@ -2,6 +2,42 @@
 Changelog for package automatic_pose_initializer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 <https://github.com/autowarefoundation/autoware.universe/issues/9250>`_)
+  * refactor(autoware_ad_api_specs): prefix package and namespace with autoware
+  * style(pre-commit): autofix
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * style(pre-commit): autofix
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * chore(autoware_adapi_specs): rename ad_api to adapi
+  * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 <https://github.com/autowarefoundation/autoware.universe/issues/9092>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml
index 7a0566f478118..13f15d7dc63fd 100644
--- a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml
+++ b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>automatic_pose_initializer</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The automatic_pose_initializer package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
diff --git a/system/diagnostic_graph_aggregator/CHANGELOG.rst b/system/diagnostic_graph_aggregator/CHANGELOG.rst
index c3824be814e01..51abe33dcfbdf 100644
--- a/system/diagnostic_graph_aggregator/CHANGELOG.rst
+++ b/system/diagnostic_graph_aggregator/CHANGELOG.rst
@@ -2,6 +2,34 @@
 Changelog for package diagnostic_graph_aggregator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - system (`#9573 <https://github.com/autowarefoundation/autoware.universe/issues/9573>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(diagnostic_graph_aggregator): implement diagnostic graph dump functionality (`#9261 <https://github.com/autowarefoundation/autoware.universe/issues/9261>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/system/diagnostic_graph_aggregator/package.xml b/system/diagnostic_graph_aggregator/package.xml
index 0b58afa330f43..ae9266a3bf302 100644
--- a/system/diagnostic_graph_aggregator/package.xml
+++ b/system/diagnostic_graph_aggregator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>diagnostic_graph_aggregator</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The diagnostic_graph_aggregator package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <license>Apache License 2.0</license>
diff --git a/system/diagnostic_graph_utils/CHANGELOG.rst b/system/diagnostic_graph_utils/CHANGELOG.rst
index 17643d9e955e5..857671f77fd94 100644
--- a/system/diagnostic_graph_utils/CHANGELOG.rst
+++ b/system/diagnostic_graph_utils/CHANGELOG.rst
@@ -2,6 +2,45 @@
 Changelog for package diagnostic_graph_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* feat(diagnostic_graph_utils): publish error graph instead of the terminal log (`#9421 <https://github.com/autowarefoundation/autoware.universe/issues/9421>`_)
+  * feat(diagnostic_graph_utils): publish error graph instead of the terminal log
+  * update
+  * fix
+  * Update system/diagnostic_graph_utils/src/node/logging.cpp
+  Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
+  * error_graph -> error_graph_text
+  ---------
+  Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - system (`#9573 <https://github.com/autowarefoundation/autoware.universe/issues/9573>`_)
+* fix(diagnostic_graph_utils): fix clang-diagnostic-delete-abstract-non-virtual-dtor (`#9431 <https://github.com/autowarefoundation/autoware.universe/issues/9431>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(diagnostic_graph_utils): reset graph when new one is received (`#9208 <https://github.com/autowarefoundation/autoware.universe/issues/9208>`_)
+  fix(diagnostic_graph_utils): reset graph when new one is reveived
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Takagi, Isamu, Takayuki Murooka, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/system/diagnostic_graph_utils/package.xml b/system/diagnostic_graph_utils/package.xml
index 69b8e4083356d..03cf1fa369774 100644
--- a/system/diagnostic_graph_utils/package.xml
+++ b/system/diagnostic_graph_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>diagnostic_graph_utils</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The diagnostic_graph_utils package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <license>Apache License 2.0</license>
diff --git a/system/dummy_diag_publisher/CHANGELOG.rst b/system/dummy_diag_publisher/CHANGELOG.rst
index 7f50608ce061b..4652837056220 100644
--- a/system/dummy_diag_publisher/CHANGELOG.rst
+++ b/system/dummy_diag_publisher/CHANGELOG.rst
@@ -2,6 +2,42 @@
 Changelog for package dummy_diag_publisher
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - system (`#9573 <https://github.com/autowarefoundation/autoware.universe/issues/9573>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* fix(dummy_diag_publisher): not use diagnostic_updater and param callback (`#9257 <https://github.com/autowarefoundation/autoware.universe/issues/9257>`_)
+  * fix(dummy_diag_publisher): not use diagnostic_updater and param callback for v0.29.0 (`#1414 <https://github.com/autowarefoundation/autoware.universe/issues/1414>`_)
+  fix(dummy_diag_publisher): not use diagnostic_updater and param callback
+  Co-authored-by: h-ohta <hiroki.ota@tier4.jp>
+  * fix: resolve build error of dummy diag publisher (`#1415 <https://github.com/autowarefoundation/autoware.universe/issues/1415>`_)
+  fix merge conflict
+  ---------
+  Co-authored-by: Shohei Sakai <saka1s.jp@gmail.com>
+  Co-authored-by: h-ohta <hiroki.ota@tier4.jp>
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yuki TAKAGI, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/system/dummy_diag_publisher/package.xml b/system/dummy_diag_publisher/package.xml
index d5693da6db8c6..56faf31413e77 100644
--- a/system/dummy_diag_publisher/package.xml
+++ b/system/dummy_diag_publisher/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>dummy_diag_publisher</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The dummy_diag_publisher ROS 2 package</description>
   <maintainer email="fumihito.ito@tier4.jp">Fumihito Ito</maintainer>
   <maintainer email="tetsuhiro.kawaguchi@tier4.jp">TetsuKawa</maintainer>
diff --git a/system/dummy_infrastructure/CHANGELOG.rst b/system/dummy_infrastructure/CHANGELOG.rst
index e7ce27fe644e7..50ecdd8d7fa96 100644
--- a/system/dummy_infrastructure/CHANGELOG.rst
+++ b/system/dummy_infrastructure/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package dummy_infrastructure
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/system/dummy_infrastructure/package.xml b/system/dummy_infrastructure/package.xml
index b72927cd47162..49c1b00757094 100644
--- a/system/dummy_infrastructure/package.xml
+++ b/system/dummy_infrastructure/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>dummy_infrastructure</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>dummy_infrastructure</description>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
   <license>Apache License 2.0</license>
diff --git a/system/duplicated_node_checker/CHANGELOG.rst b/system/duplicated_node_checker/CHANGELOG.rst
index d44d9508aac6c..605012c898598 100644
--- a/system/duplicated_node_checker/CHANGELOG.rst
+++ b/system/duplicated_node_checker/CHANGELOG.rst
@@ -2,6 +2,33 @@
 Changelog for package duplicated_node_checker
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* feat(duplicated_node_checker): show the node name on the terminal (`#9609 <https://github.com/autowarefoundation/autoware.universe/issues/9609>`_)
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - system (`#9573 <https://github.com/autowarefoundation/autoware.universe/issues/9573>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/system/duplicated_node_checker/package.xml b/system/duplicated_node_checker/package.xml
index 12eb39f8ead30..ee2f938cfb442 100644
--- a/system/duplicated_node_checker/package.xml
+++ b/system/duplicated_node_checker/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>duplicated_node_checker</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>A package to find out nodes with common names</description>
   <maintainer email="shumpei.wakabayashi@tier4.jp">Shumpei Wakabayashi</maintainer>
   <maintainer email="uken.ryu@tier4.jp">yliuhb</maintainer>
diff --git a/system/hazard_status_converter/CHANGELOG.rst b/system/hazard_status_converter/CHANGELOG.rst
index d3f4488b00836..a0c8e0ae193d1 100644
--- a/system/hazard_status_converter/CHANGELOG.rst
+++ b/system/hazard_status_converter/CHANGELOG.rst
@@ -2,6 +2,41 @@
 Changelog for package hazard_status_converter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - system (`#9573 <https://github.com/autowarefoundation/autoware.universe/issues/9573>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(hazard_status_converter): hazard status converter subscribe emergency holding (`#9287 <https://github.com/autowarefoundation/autoware.universe/issues/9287>`_)
+  * feat: add subscriber for emergency_holding
+  * modify: fix value name
+  * style(pre-commit): autofix
+  * feat: add const to is_emergency_holding
+  Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+  Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, TetsuKawa, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/system/hazard_status_converter/package.xml b/system/hazard_status_converter/package.xml
index e53847459ea39..80cc53c08e16d 100644
--- a/system/hazard_status_converter/package.xml
+++ b/system/hazard_status_converter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>hazard_status_converter</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The hazard_status_converter package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <license>Apache License 2.0</license>
diff --git a/system/mrm_comfortable_stop_operator/CHANGELOG.rst b/system/mrm_comfortable_stop_operator/CHANGELOG.rst
index fc403b6a366ff..cf423a3d7b158 100644
--- a/system/mrm_comfortable_stop_operator/CHANGELOG.rst
+++ b/system/mrm_comfortable_stop_operator/CHANGELOG.rst
@@ -2,6 +2,36 @@
 Changelog for package mrm_comfortable_stop_operator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - system (`#9573 <https://github.com/autowarefoundation/autoware.universe/issues/9573>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(mrm_comfortable_stop_operator): add updateParam for mrm comfortable stop (`#9353 <https://github.com/autowarefoundation/autoware.universe/issues/9353>`_)
+  * add updateParam for mrm comfortable stop
+  * remove abs since it is not necessary
+  ---------
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, danielsanchezaran
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/system/mrm_comfortable_stop_operator/package.xml b/system/mrm_comfortable_stop_operator/package.xml
index ec8508f691439..58ff309d825f1 100644
--- a/system/mrm_comfortable_stop_operator/package.xml
+++ b/system/mrm_comfortable_stop_operator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>mrm_comfortable_stop_operator</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The MRM comfortable stop operator package</description>
   <maintainer email="makoto.kurihara@tier4.jp">Makoto Kurihara</maintainer>
   <maintainer email="tomohito.ando@tier4.jp">Tomohito Ando</maintainer>
diff --git a/system/mrm_emergency_stop_operator/CHANGELOG.rst b/system/mrm_emergency_stop_operator/CHANGELOG.rst
index 6ace9fa84cc90..f6dc5499bcb74 100644
--- a/system/mrm_emergency_stop_operator/CHANGELOG.rst
+++ b/system/mrm_emergency_stop_operator/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package mrm_emergency_stop_operator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - system (`#9573 <https://github.com/autowarefoundation/autoware.universe/issues/9573>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/system/mrm_emergency_stop_operator/package.xml b/system/mrm_emergency_stop_operator/package.xml
index 8be2e83484c17..7614373672f31 100644
--- a/system/mrm_emergency_stop_operator/package.xml
+++ b/system/mrm_emergency_stop_operator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>mrm_emergency_stop_operator</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The MRM emergency stop operator package</description>
   <maintainer email="makoto.kurihara@tier4.jp">Makoto Kurihara</maintainer>
   <maintainer email="tomohito.ando@tier4.jp">Tomohito Ando</maintainer>
diff --git a/system/mrm_handler/CHANGELOG.rst b/system/mrm_handler/CHANGELOG.rst
index 4792246b01e86..d9e6990373f6f 100644
--- a/system/mrm_handler/CHANGELOG.rst
+++ b/system/mrm_handler/CHANGELOG.rst
@@ -2,6 +2,37 @@
 Changelog for package mrm_handler
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* feat(mrm_handler): mrm handler publish emergecy holding (`#9285 <https://github.com/autowarefoundation/autoware.universe/issues/9285>`_)
+  * feat: add publisher for emrgency holding
+  * modify: fix msg element
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, TetsuKawa, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/system/mrm_handler/package.xml b/system/mrm_handler/package.xml
index 78d6b631799bf..d330680e87049 100644
--- a/system/mrm_handler/package.xml
+++ b/system/mrm_handler/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>mrm_handler</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The mrm_handler ROS 2 package</description>
   <maintainer email="makoto.kurihara@tier4.jp">Makoto Kurihara</maintainer>
   <maintainer email="ryuta.kambe@tier4.jp">Ryuta Kambe</maintainer>
diff --git a/system/system_diagnostic_monitor/CHANGELOG.rst b/system/system_diagnostic_monitor/CHANGELOG.rst
index faf15ad273924..9a5721b05d7ee 100644
--- a/system/system_diagnostic_monitor/CHANGELOG.rst
+++ b/system/system_diagnostic_monitor/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package system_diagnostic_monitor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/system/system_diagnostic_monitor/package.xml b/system/system_diagnostic_monitor/package.xml
index 657268589c5a2..095d7cf040517 100644
--- a/system/system_diagnostic_monitor/package.xml
+++ b/system/system_diagnostic_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>system_diagnostic_monitor</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The system_diagnostic_monitor package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <license>Apache License 2.0</license>
diff --git a/system/system_monitor/CHANGELOG.rst b/system/system_monitor/CHANGELOG.rst
index 7759f315830d2..0ce1977dfdfa8 100644
--- a/system/system_monitor/CHANGELOG.rst
+++ b/system/system_monitor/CHANGELOG.rst
@@ -2,6 +2,43 @@
 Changelog for package system_monitor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* ci(pre-commit): update cpplint to 2.0.0 (`#9557 <https://github.com/autowarefoundation/autoware.universe/issues/9557>`_)
+* fix(cpplint): include what you use - system (`#9573 <https://github.com/autowarefoundation/autoware.universe/issues/9573>`_)
+* 0.39.0
+* update changelog
+* Merge commit '6a1ddbd08bd' into release-0.39.0
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* feat(system_monitor): add on/off config for network traffic monitor (`#9069 <https://github.com/autowarefoundation/autoware.universe/issues/9069>`_)
+  * feat(system_monitor): add config for network traffic monitor
+  * fix: change function name from stop to skip
+  ---------
+* feat(system_monitor): support loopback network interface (`#9067 <https://github.com/autowarefoundation/autoware.universe/issues/9067>`_)
+  * feat(system_monitor): support loopback network interface
+  * style(pre-commit): autofix
+  ---------
+  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, awf-autoware-bot[bot], iwatake
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/system/system_monitor/package.xml b/system/system_monitor/package.xml
index 1044cb2fde474..df63dac90551c 100644
--- a/system/system_monitor/package.xml
+++ b/system/system_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>system_monitor</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The system_monitor package</description>
   <maintainer email="fumihito.ito@tier4.jp">Fumihito Ito</maintainer>
   <maintainer email="tetsuhiro.kawaguchi@tier4.jp">TetsuKawa</maintainer>
diff --git a/system/topic_state_monitor/CHANGELOG.rst b/system/topic_state_monitor/CHANGELOG.rst
index 6f7c71abcf683..1eebcd1bcb1b1 100644
--- a/system/topic_state_monitor/CHANGELOG.rst
+++ b/system/topic_state_monitor/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package topic_state_monitor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/system/topic_state_monitor/package.xml b/system/topic_state_monitor/package.xml
index b6e517aec34bb..0468db6124666 100644
--- a/system/topic_state_monitor/package.xml
+++ b/system/topic_state_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>topic_state_monitor</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The topic_state_monitor package</description>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
   <license>Apache License 2.0</license>
diff --git a/system/velodyne_monitor/CHANGELOG.rst b/system/velodyne_monitor/CHANGELOG.rst
index 717865b43d5ea..4cc3be4c7a3f0 100644
--- a/system/velodyne_monitor/CHANGELOG.rst
+++ b/system/velodyne_monitor/CHANGELOG.rst
@@ -2,6 +2,30 @@
 Changelog for package velodyne_monitor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/system/velodyne_monitor/package.xml b/system/velodyne_monitor/package.xml
index 665e6ab87c575..0dc8ae5f00a5d 100644
--- a/system/velodyne_monitor/package.xml
+++ b/system/velodyne_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>velodyne_monitor</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The velodyne_monitor package</description>
   <maintainer email="fumihito.ito@tier4.jp">Fumihito Ito</maintainer>
   <license>Apache License 2.0</license>
diff --git a/tools/reaction_analyzer/CHANGELOG.rst b/tools/reaction_analyzer/CHANGELOG.rst
index 740affa42f42a..f2f1ac255fc06 100644
--- a/tools/reaction_analyzer/CHANGELOG.rst
+++ b/tools/reaction_analyzer/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package reaction_analyzer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - tools (`#9574 <https://github.com/autowarefoundation/autoware.universe/issues/9574>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/tools/reaction_analyzer/package.xml b/tools/reaction_analyzer/package.xml
index b3b1f69421fe7..540376e032743 100644
--- a/tools/reaction_analyzer/package.xml
+++ b/tools/reaction_analyzer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>reaction_analyzer</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Analyzer that measures reaction times of the nodes</description>
 
   <maintainer email="berkay@leodrive.ai">Berkay Karaman</maintainer>
diff --git a/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst b/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst
index b53b0b225a141..cbd3907bd854a 100644
--- a/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst
+++ b/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst
@@ -2,6 +2,34 @@
 Changelog for package autoware_accel_brake_map_calibrator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - vehicle (`#9575 <https://github.com/autowarefoundation/autoware.universe/issues/9575>`_)
+* ci(pre-commit): autoupdate (`#8949 <https://github.com/autowarefoundation/autoware.universe/issues/8949>`_)
+  Co-authored-by: M. Fatih Cırıt <mfc@autoware.org>
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, awf-autoware-bot[bot]
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/vehicle/autoware_accel_brake_map_calibrator/package.xml b/vehicle/autoware_accel_brake_map_calibrator/package.xml
index 00ed9af04e5da..de2dcf2d8e440 100644
--- a/vehicle/autoware_accel_brake_map_calibrator/package.xml
+++ b/vehicle/autoware_accel_brake_map_calibrator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_accel_brake_map_calibrator</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The accel_brake_map_calibrator</description>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
diff --git a/vehicle/autoware_external_cmd_converter/CHANGELOG.rst b/vehicle/autoware_external_cmd_converter/CHANGELOG.rst
index 7c1df55f31c03..ddbd655a9c34f 100644
--- a/vehicle/autoware_external_cmd_converter/CHANGELOG.rst
+++ b/vehicle/autoware_external_cmd_converter/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_external_cmd_converter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - vehicle (`#9575 <https://github.com/autowarefoundation/autoware.universe/issues/9575>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/vehicle/autoware_external_cmd_converter/package.xml b/vehicle/autoware_external_cmd_converter/package.xml
index 146327e6ca4b4..eb44058775a3f 100644
--- a/vehicle/autoware_external_cmd_converter/package.xml
+++ b/vehicle/autoware_external_cmd_converter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_external_cmd_converter</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_external_cmd_converter package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="eiki.nagata.2@tier4.jp">Eiki Nagata</maintainer>
diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst b/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst
index 5c9572a7b712d..de088bb8d5a76 100644
--- a/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_raw_vehicle_cmd_converter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* fix(cpplint): include what you use - vehicle (`#9575 <https://github.com/autowarefoundation/autoware.universe/issues/9575>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml
index 1e3b265127a63..468e039312520 100644
--- a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_raw_vehicle_cmd_converter</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware_raw_vehicle_cmd_converter package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="taiki.tanaka@tier4.jp">Tanaka Taiki</maintainer>
diff --git a/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst b/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst
index 8838f8de5c5d5..4e4f9c1a39a66 100644
--- a/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst
+++ b/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst
@@ -2,6 +2,32 @@
 Changelog for package autoware_steer_offset_estimator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)
+  * chore(package.xml): bump version to 0.39.0
+  * fix: fix ticket links in CHANGELOG.rst
+  * fix: remove unnecessary diff
+  ---------
+  Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
+* fix: fix ticket links in CHANGELOG.rst (`#9588 <https://github.com/autowarefoundation/autoware.universe/issues/9588>`_)
+* refactor(global_parameter_loader): prefix package and namespace with autoware (`#9303 <https://github.com/autowarefoundation/autoware.universe/issues/9303>`_)
+* 0.39.0
+* update changelog
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
+* chore(package.xml): bump version to 0.38.0 (`#9266 <https://github.com/autowarefoundation/autoware.universe/issues/9266>`_) (`#9284 <https://github.com/autowarefoundation/autoware.universe/issues/9284>`_)
+  * unify package.xml version to 0.37.0
+  * remove system_monitor/CHANGELOG.rst
+  * add changelog
+  * 0.38.0
+  ---------
+* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/vehicle/autoware_steer_offset_estimator/package.xml b/vehicle/autoware_steer_offset_estimator/package.xml
index e3e633562b98a..715d80504dafe 100644
--- a/vehicle/autoware_steer_offset_estimator/package.xml
+++ b/vehicle/autoware_steer_offset_estimator/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>autoware_steer_offset_estimator</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The steer_offset_estimator</description>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
   <license>Apache License 2.0</license>
diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst
index 7fdc075553c07..91b2ce31af3bf 100644
--- a/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst
+++ b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package autoware_mission_details_overlay_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* chore: move rviz plugins from common to visualization/ folder (`#9417 <https://github.com/autowarefoundation/autoware.universe/issues/9417>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml
index 1ae744322766e..82b4c10194131 100644
--- a/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml
+++ b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_mission_details_overlay_rviz_plugin</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>
     RViz2 plugin for 2D overlays for mission details in the 3D view. Mainly a port of the JSK overlay plugin
         (https://github.com/jsk-ros-pkg/jsk_visualization).
diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst
index b1cef0c598a85..44c9901bda3ec 100644
--- a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst
+++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package autoware_overlay_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* chore: move rviz plugins from common to visualization/ folder (`#9417 <https://github.com/autowarefoundation/autoware.universe/issues/9417>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml
index 1a626d90bc02b..86bab15660d4d 100644
--- a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml
+++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_overlay_rviz_plugin</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>
     RViz2 plugin for 2D overlays in the 3D view. Mainly a port of the JSK overlay plugin
         (https://github.com/jsk-ros-pkg/jsk_visualization).
diff --git a/visualization/autoware_perception_rviz_plugin/CHANGELOG.rst b/visualization/autoware_perception_rviz_plugin/CHANGELOG.rst
index c84cd5bf35fa8..a1b325e441fc0 100644
--- a/visualization/autoware_perception_rviz_plugin/CHANGELOG.rst
+++ b/visualization/autoware_perception_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package autoware_perception_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* chore: move rviz plugins from common to visualization/ folder (`#9417 <https://github.com/autowarefoundation/autoware.universe/issues/9417>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/visualization/autoware_perception_rviz_plugin/package.xml b/visualization/autoware_perception_rviz_plugin/package.xml
index 3f6c168c9857a..b3d2d69a34f35 100644
--- a/visualization/autoware_perception_rviz_plugin/package.xml
+++ b/visualization/autoware_perception_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_perception_rviz_plugin</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Contains plugins to visualize object detection outputs</description>
   <maintainer email="opensource@apex.ai">Apex.AI, Inc.</maintainer>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
diff --git a/visualization/bag_time_manager_rviz_plugin/CHANGELOG.rst b/visualization/bag_time_manager_rviz_plugin/CHANGELOG.rst
index af35aa6921956..df222e8eb584e 100644
--- a/visualization/bag_time_manager_rviz_plugin/CHANGELOG.rst
+++ b/visualization/bag_time_manager_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package bag_time_manager_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* chore: move rviz plugins from common to visualization/ folder (`#9417 <https://github.com/autowarefoundation/autoware.universe/issues/9417>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/visualization/bag_time_manager_rviz_plugin/package.xml b/visualization/bag_time_manager_rviz_plugin/package.xml
index c3e9895805a12..365dad286d22c 100644
--- a/visualization/bag_time_manager_rviz_plugin/package.xml
+++ b/visualization/bag_time_manager_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bag_time_manager_rviz_plugin</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>Rviz plugin to publish and control the ros bag</description>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
   <license>Apache License 2.0</license>
diff --git a/visualization/tier4_adapi_rviz_plugin/CHANGELOG.rst b/visualization/tier4_adapi_rviz_plugin/CHANGELOG.rst
index ed05abec453cb..32c8d0a621304 100644
--- a/visualization/tier4_adapi_rviz_plugin/CHANGELOG.rst
+++ b/visualization/tier4_adapi_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package tier4_adapi_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* chore: move rviz plugins from common to visualization/ folder (`#9417 <https://github.com/autowarefoundation/autoware.universe/issues/9417>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/visualization/tier4_adapi_rviz_plugin/package.xml b/visualization/tier4_adapi_rviz_plugin/package.xml
index 97418c7308f5b..da1af7b150c70 100644
--- a/visualization/tier4_adapi_rviz_plugin/package.xml
+++ b/visualization/tier4_adapi_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_adapi_rviz_plugin</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware adapi rviz plugin package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="hiroki.ota@tier4.jp">Hiroki OTA</maintainer>
diff --git a/visualization/tier4_camera_view_rviz_plugin/CHANGELOG.rst b/visualization/tier4_camera_view_rviz_plugin/CHANGELOG.rst
index 78b243eedcd85..99d51e3064524 100644
--- a/visualization/tier4_camera_view_rviz_plugin/CHANGELOG.rst
+++ b/visualization/tier4_camera_view_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package tier4_camera_view_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* chore: move rviz plugins from common to visualization/ folder (`#9417 <https://github.com/autowarefoundation/autoware.universe/issues/9417>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/visualization/tier4_camera_view_rviz_plugin/package.xml b/visualization/tier4_camera_view_rviz_plugin/package.xml
index 0728391e2e1ed..b25aac8a74570 100644
--- a/visualization/tier4_camera_view_rviz_plugin/package.xml
+++ b/visualization/tier4_camera_view_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_camera_view_rviz_plugin</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware camera view rviz plugin package</description>
   <maintainer email="uken.ryu@tier4.jp">Yuxuan Liu</maintainer>
   <maintainer email="makoto.ybauta@tier4.jp">Makoto Yabuta</maintainer>
diff --git a/visualization/tier4_datetime_rviz_plugin/CHANGELOG.rst b/visualization/tier4_datetime_rviz_plugin/CHANGELOG.rst
index e5e5a9df7ec7f..155d36c369d77 100644
--- a/visualization/tier4_datetime_rviz_plugin/CHANGELOG.rst
+++ b/visualization/tier4_datetime_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package tier4_datetime_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* chore: move rviz plugins from common to visualization/ folder (`#9417 <https://github.com/autowarefoundation/autoware.universe/issues/9417>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/visualization/tier4_datetime_rviz_plugin/package.xml b/visualization/tier4_datetime_rviz_plugin/package.xml
index 0a78d7408e3a3..80c19ec0957fd 100644
--- a/visualization/tier4_datetime_rviz_plugin/package.xml
+++ b/visualization/tier4_datetime_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_datetime_rviz_plugin</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The tier4_datetime_rviz_plugin package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <license>Apache License 2.0</license>
diff --git a/visualization/tier4_localization_rviz_plugin/CHANGELOG.rst b/visualization/tier4_localization_rviz_plugin/CHANGELOG.rst
index ddbe7b587d9e8..4e9985286862b 100644
--- a/visualization/tier4_localization_rviz_plugin/CHANGELOG.rst
+++ b/visualization/tier4_localization_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package tier4_localization_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* chore: move rviz plugins from common to visualization/ folder (`#9417 <https://github.com/autowarefoundation/autoware.universe/issues/9417>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/visualization/tier4_localization_rviz_plugin/package.xml b/visualization/tier4_localization_rviz_plugin/package.xml
index e5623a25416c2..e3f200aeb7111 100644
--- a/visualization/tier4_localization_rviz_plugin/package.xml
+++ b/visualization/tier4_localization_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_localization_rviz_plugin</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The tier4_localization_rviz_plugin package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
diff --git a/visualization/tier4_planning_rviz_plugin/CHANGELOG.rst b/visualization/tier4_planning_rviz_plugin/CHANGELOG.rst
index f6ddb9a16283a..8faac0b6ac8e7 100644
--- a/visualization/tier4_planning_rviz_plugin/CHANGELOG.rst
+++ b/visualization/tier4_planning_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package tier4_planning_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* chore: move rviz plugins from common to visualization/ folder (`#9417 <https://github.com/autowarefoundation/autoware.universe/issues/9417>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/visualization/tier4_planning_rviz_plugin/package.xml b/visualization/tier4_planning_rviz_plugin/package.xml
index 16dedcb450814..d615878f91354 100644
--- a/visualization/tier4_planning_rviz_plugin/package.xml
+++ b/visualization/tier4_planning_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_planning_rviz_plugin</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The tier4_planning_rviz_plugin package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/visualization/tier4_state_rviz_plugin/CHANGELOG.rst b/visualization/tier4_state_rviz_plugin/CHANGELOG.rst
index ac4988a0bff22..243d3c28733d7 100644
--- a/visualization/tier4_state_rviz_plugin/CHANGELOG.rst
+++ b/visualization/tier4_state_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package tier4_state_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* chore: move rviz plugins from common to visualization/ folder (`#9417 <https://github.com/autowarefoundation/autoware.universe/issues/9417>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/visualization/tier4_state_rviz_plugin/package.xml b/visualization/tier4_state_rviz_plugin/package.xml
index 19c8c153b89ee..f5f5fa8b9c0c1 100644
--- a/visualization/tier4_state_rviz_plugin/package.xml
+++ b/visualization/tier4_state_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_state_rviz_plugin</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware state rviz plugin package</description>
   <maintainer email="hiroki.ota@tier4.jp">Hiroki OTA</maintainer>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
diff --git a/visualization/tier4_system_rviz_plugin/CHANGELOG.rst b/visualization/tier4_system_rviz_plugin/CHANGELOG.rst
index f5895ae43b3db..a895b7135e0c8 100644
--- a/visualization/tier4_system_rviz_plugin/CHANGELOG.rst
+++ b/visualization/tier4_system_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package tier4_system_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* chore: move rviz plugins from common to visualization/ folder (`#9417 <https://github.com/autowarefoundation/autoware.universe/issues/9417>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/visualization/tier4_system_rviz_plugin/package.xml b/visualization/tier4_system_rviz_plugin/package.xml
index 5e6a30689505f..5b768aa077120 100644
--- a/visualization/tier4_system_rviz_plugin/package.xml
+++ b/visualization/tier4_system_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_system_rviz_plugin</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The tier4_vehicle_rviz_plugin package</description>
   <maintainer email="koji.minoda@tier4.jp">Koji Minoda</maintainer>
   <license>Apache License 2.0</license>
diff --git a/visualization/tier4_traffic_light_rviz_plugin/CHANGELOG.rst b/visualization/tier4_traffic_light_rviz_plugin/CHANGELOG.rst
index 46c123392b23e..72e4ec068910b 100644
--- a/visualization/tier4_traffic_light_rviz_plugin/CHANGELOG.rst
+++ b/visualization/tier4_traffic_light_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package tier4_traffic_light_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* chore: move rviz plugins from common to visualization/ folder (`#9417 <https://github.com/autowarefoundation/autoware.universe/issues/9417>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe
+
 0.39.0 (2024-11-25)
 -------------------
 * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 <https://github.com/autowarefoundation/autoware.universe/issues/9304>`_)
diff --git a/visualization/tier4_traffic_light_rviz_plugin/package.xml b/visualization/tier4_traffic_light_rviz_plugin/package.xml
index 6b8718488953a..b6645782290c1 100644
--- a/visualization/tier4_traffic_light_rviz_plugin/package.xml
+++ b/visualization/tier4_traffic_light_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_traffic_light_rviz_plugin</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The autoware state rviz plugin package</description>
   <maintainer email="satoshi.ota@tier4.jp">Satoshi OTA</maintainer>
   <license>Apache License 2.0</license>
diff --git a/visualization/tier4_vehicle_rviz_plugin/CHANGELOG.rst b/visualization/tier4_vehicle_rviz_plugin/CHANGELOG.rst
index 33c59d1d1c93f..45d81a4646466 100644
--- a/visualization/tier4_vehicle_rviz_plugin/CHANGELOG.rst
+++ b/visualization/tier4_vehicle_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package tier4_vehicle_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.40.0 (2024-12-12)
+-------------------
+* Merge branch 'main' into release-0.40.0
+* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 <https://github.com/autowarefoundation/autoware.universe/issues/9587>`_)"
+  This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
+* chore: move rviz plugins from common to visualization/ folder (`#9417 <https://github.com/autowarefoundation/autoware.universe/issues/9417>`_)
+* Contributors: Esteve Fernandez, Fumiya Watanabe
+
 0.39.0 (2024-11-25)
 -------------------
 * Merge commit '6a1ddbd08bd' into release-0.39.0
diff --git a/visualization/tier4_vehicle_rviz_plugin/package.xml b/visualization/tier4_vehicle_rviz_plugin/package.xml
index 0aee4396e6167..4124ed2d514a3 100644
--- a/visualization/tier4_vehicle_rviz_plugin/package.xml
+++ b/visualization/tier4_vehicle_rviz_plugin/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tier4_vehicle_rviz_plugin</name>
-  <version>0.39.0</version>
+  <version>0.40.0</version>
   <description>The tier4_vehicle_rviz_plugin package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <license>Apache License 2.0</license>

From 3c94dbfb8bbe7ceaad784cc2efe7b7917f5c73e6 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Thu, 12 Dec 2024 12:58:05 +0900
Subject: [PATCH 24/36] fix(tier4_perception_launch): update multi-channel
 subscribing channel name to lidar_detection_model_type (#9624)

* feat: update object detection channels in tracking.launch.xml

The object detection channels in the `tracking.launch.xml` file have been updated to include the lidar detection model type.

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: support even the validator is not used

add variable use_validator to the tracking launch and determine the subscribing channel depends on the use_validator value

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../tracking/tracking.launch.xml              | 19 +++++++++++--------
 .../launch/perception.launch.xml              |  1 +
 2 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
index cc9fe78b748a4..ce13a742c6202 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
@@ -15,6 +15,7 @@
   <arg name="use_radar_tracking_fusion" default="false" description="use radar tracking fusion"/>
   <let name="use_radar_tracking_fusion" value="false" if="$(eval '&quot;$(var mode)&quot;!=&quot;camera_lidar_radar_fusion&quot;')"/>
   <arg name="use_multi_channel_tracker_merger"/>
+  <arg name="use_validator" description="use obstacle_pointcloud based validator"/>
 
   <!-- External interface -->
   <let name="input/detection_input_channels" value="['detected_objects']"/>
@@ -68,21 +69,23 @@
   <!-- Object list for multi-channel tracker merger -->
   <group if="$(var use_multi_channel_tracker_merger)">
     <let name="detection_enabled_channels" value="$(var input/detection_input_channels)"/>
+    <let name="lidar_dnn_detection_output" value="$(var lidar_detection_model_type)_validated" if="$(var use_validator)"/>
+    <let name="lidar_dnn_detection_output" value="$(var lidar_detection_model_type)" unless="$(var use_validator)"/>
     <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
-      <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion','detection_by_tracker','radar_far']" if="$(var use_detection_by_tracker)"/>
-      <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion','radar_far']" unless="$(var use_detection_by_tracker)"/>
+      <let name="detection_enabled_channels" value="['lidar_$(var lidar_dnn_detection_output)','camera_lidar_fusion','detection_by_tracker','radar_far']" if="$(var use_detection_by_tracker)"/>
+      <let name="detection_enabled_channels" value="['lidar_$(var lidar_dnn_detection_output)','camera_lidar_fusion','radar_far']" unless="$(var use_detection_by_tracker)"/>
     </group>
     <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
-      <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion','detection_by_tracker']" if="$(var use_detection_by_tracker)"/>
-      <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion']" unless="$(var use_detection_by_tracker)"/>
+      <let name="detection_enabled_channels" value="['lidar_$(var lidar_dnn_detection_output)','camera_lidar_fusion','detection_by_tracker']" if="$(var use_detection_by_tracker)"/>
+      <let name="detection_enabled_channels" value="['lidar_$(var lidar_dnn_detection_output)','camera_lidar_fusion']" unless="$(var use_detection_by_tracker)"/>
     </group>
     <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
-      <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','detection_by_tracker','radar_far']" if="$(var use_detection_by_tracker)"/>
-      <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','radar_far']" unless="$(var use_detection_by_tracker)"/>
+      <let name="detection_enabled_channels" value="['lidar_$(var lidar_dnn_detection_output)','detection_by_tracker','radar_far']" if="$(var use_detection_by_tracker)"/>
+      <let name="detection_enabled_channels" value="['lidar_$(var lidar_dnn_detection_output)','radar_far']" unless="$(var use_detection_by_tracker)"/>
     </group>
     <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
-      <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','detection_by_tracker']" if="$(var use_detection_by_tracker)"/>
-      <let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated']" unless="$(var use_detection_by_tracker)"/>
+      <let name="detection_enabled_channels" value="['lidar_$(var lidar_dnn_detection_output)','detection_by_tracker']" if="$(var use_detection_by_tracker)"/>
+      <let name="detection_enabled_channels" value="['lidar_$(var lidar_dnn_detection_output)']" unless="$(var use_detection_by_tracker)"/>
     </group>
     <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
       <let name="detection_enabled_channels" value="['radar_far']"/>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 5c04cc3e10679..83c7c202e8c0a 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -272,6 +272,7 @@
           <arg name="use_multi_channel_tracker_merger" value="$(var use_multi_channel_tracker_merger)"/>
           <arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
           <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
+          <arg name="use_validator" value="$(var use_object_validator)"/>
         </include>
       </group>
 

From 41ca7686d7439b5ebb5a9ad903a3bd827289427b Mon Sep 17 00:00:00 2001
From: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com>
Date: Thu, 12 Dec 2024 13:34:48 +0900
Subject: [PATCH 25/36] refactor(autoware_test_utils): enhance makeMapBinMsg to
 accept package name and map filename parameters (#9617)

* feat: enhance makeMapBinMsg to accept package name and map filename parameters

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* feat: set default package name to 'autoware_test_utils' in makeMapBinMsg and related functions

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

---------

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
---
 .../autoware_test_utils.hpp                    | 14 ++++++++++----
 .../src/autoware_test_utils.cpp                |  5 ++---
 .../autoware_planning_test_manager_utils.hpp   | 18 ++++++++++++------
 3 files changed, 24 insertions(+), 13 deletions(-)

diff --git a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp
index 3721dc67526b5..b98af2133f175 100644
--- a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp
+++ b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp
@@ -213,15 +213,21 @@ LaneletMapBin make_map_bin_msg(
   const std::string & absolute_path, const double center_line_resolution = 5.0);
 
 /**
- * @brief Creates a LaneletMapBin message using a predefined Lanelet2 map file.
+ * @brief Creates a LaneletMapBin message using a Lanelet2 map file.
  *
- * This function loads a lanelet2_map.osm from the test_map folder in the
- * autoware_test_utils package, overwrites the centerline with a resolution of 5.0,
+ * This function loads a specified map file from the test_map folder in the
+ * specified package (or autoware_test_utils if no package is specified),
+ * overwrites the centerline with a resolution of 5.0,
  * and converts the map to a LaneletMapBin message.
  *
+ * @param package_name The name of the package containing the map file. If empty, defaults to
+ * "autoware_test_utils".
+ * @param map_filename The name of the map file (e.g. "lanelet2_map.osm")
  * @return A LaneletMapBin message containing the map data.
  */
-LaneletMapBin makeMapBinMsg();
+LaneletMapBin makeMapBinMsg(
+  const std::string & package_name = "autoware_test_utils",
+  const std::string & map_filename = "lanelet2_map.osm");
 
 /**
  * @brief Creates an Odometry message with a specified shift.
diff --git a/common/autoware_test_utils/src/autoware_test_utils.cpp b/common/autoware_test_utils/src/autoware_test_utils.cpp
index d42a5219e374c..08c4a3b5e9264 100644
--- a/common/autoware_test_utils/src/autoware_test_utils.cpp
+++ b/common/autoware_test_utils/src/autoware_test_utils.cpp
@@ -180,10 +180,9 @@ LaneletMapBin make_map_bin_msg(
   return map_bin_msg;
 }
 
-LaneletMapBin makeMapBinMsg()
+LaneletMapBin makeMapBinMsg(const std::string & package_name, const std::string & map_filename)
 {
-  return make_map_bin_msg(
-    get_absolute_path_to_lanelet_map("autoware_test_utils", "lanelet2_map.osm"));
+  return make_map_bin_msg(get_absolute_path_to_lanelet_map(package_name, map_filename));
 }
 
 Odometry makeOdometry(const double shift)
diff --git a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp
index b61c579df83b9..5081b14dda63b 100644
--- a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp
+++ b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp
@@ -24,6 +24,7 @@
 
 #include <iostream>
 #include <memory>
+#include <string>
 #include <vector>
 
 namespace autoware_planning_test_manager::utils
@@ -34,9 +35,11 @@ using geometry_msgs::msg::Pose;
 using nav_msgs::msg::Odometry;
 using RouteSections = std::vector<autoware_planning_msgs::msg::LaneletSegment>;
 
-Pose createPoseFromLaneID(const lanelet::Id & lane_id)
+Pose createPoseFromLaneID(
+  const lanelet::Id & lane_id, const std::string & package_name = "autoware_test_utils",
+  const std::string & map_filename = "lanelet2_map.osm")
 {
-  auto map_bin_msg = autoware::test_utils::makeMapBinMsg();
+  auto map_bin_msg = autoware::test_utils::makeMapBinMsg(package_name, map_filename);
   // create route_handler
   auto route_handler = std::make_shared<RouteHandler>();
   route_handler->setMap(map_bin_msg);
@@ -67,16 +70,19 @@ Pose createPoseFromLaneID(const lanelet::Id & lane_id)
 
 // Function to create a route from given start and goal lanelet ids
 // start pose and goal pose are set to the middle of the lanelet
-LaneletRoute makeBehaviorRouteFromLaneId(const int & start_lane_id, const int & goal_lane_id)
+LaneletRoute makeBehaviorRouteFromLaneId(
+  const int & start_lane_id, const int & goal_lane_id,
+  const std::string & package_name = "autoware_test_utils",
+  const std::string & map_filename = "lanelet2_map.osm")
 {
   LaneletRoute route;
   route.header.frame_id = "map";
-  auto start_pose = createPoseFromLaneID(start_lane_id);
-  auto goal_pose = createPoseFromLaneID(goal_lane_id);
+  auto start_pose = createPoseFromLaneID(start_lane_id, package_name, map_filename);
+  auto goal_pose = createPoseFromLaneID(goal_lane_id, package_name, map_filename);
   route.start_pose = start_pose;
   route.goal_pose = goal_pose;
 
-  auto map_bin_msg = autoware::test_utils::makeMapBinMsg();
+  auto map_bin_msg = autoware::test_utils::makeMapBinMsg(package_name, map_filename);
   // create route_handler
   auto route_handler = std::make_shared<RouteHandler>();
   route_handler->setMap(map_bin_msg);

From 4bfb753eb42d0f7954578954b62614314d05c6e7 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Thu, 12 Dec 2024 14:16:24 +0900
Subject: [PATCH 26/36] refactor(tier4_perception_launch): refactoring
 detection launchers (#9611)

* feat: Update object detection launch files to include input and output arguments

The object detection launch files have been updated to include input and output arguments for better flexibility and modularity. This allows for easier integration with other components and improves the overall performance of the system.

```

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: Update object detection launch files to include input and output arguments

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* refactor: Update object detection launch files for better readability

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* Update object detection launch files to include clustering output argument

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: pass ns argument to the lidar_rule_detector

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* refactor: make euclidean_cluster not to use use_pointcloud_container and mark explicitly

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../detection/detection.launch.xml            | 55 +++++++-----
 .../detector/camera_lidar_detector.launch.xml | 83 ++++++++++++-------
 .../detector/lidar_rule_detector.launch.xml   | 25 ++++--
 .../tracker_based_detector.launch.xml         |  6 ++
 .../launch/perception.launch.xml              |  2 +-
 5 files changed, 112 insertions(+), 59 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
index 499cf3c192164..912a7f3e48f41 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -47,37 +47,40 @@
   <arg name="input/camera7/info"/>
   <arg name="input/camera7/rois"/>
   <arg name="input/radar"/>
-
+  <arg name="input/tracked_objects" default="/perception/object_recognition/tracking/objects"/>
   <arg name="output/objects" default="objects"/>
 
   <!-- internal interfaces -->
-  <arg name="pointcloud_filter/output/pointcloud" default="$(var ns)/pointcloud_map_filtered/pointcloud"/>
-  <arg name="lidar_ml_detector/output/objects" default="$(var ns)/$(var lidar_detection_model_type)/objects"/>
-  <arg name="lidar_rule_detector/output/objects" default="$(var ns)/clustering/objects"/>
-  <arg name="camera_lidar_rule_detector/output/objects" default="$(var ns)/clustering/camera_lidar_fusion/objects"/>
-  <arg name="tracker_based_detector/output/objects" default="$(var ns)/detection_by_tracker/objects"/>
-  <arg name="lidar_object_filter/output/objects" default="$(var ns)/$(var lidar_detection_model_type)/validation/objects"/>
-  <arg name="camera_lidar_object_filter/output/objects" default="$(var ns)/clustering/camera_lidar_fusion/filtered/objects"/>
-  <arg name="radar_pipeline/output/objects" default="$(var ns)/radar/far_objects"/>
-  <arg name="radar_object_filter/output/objects" default="$(var ns)/radar/far_objects"/>
+  <let name="pointcloud_filter/output/pointcloud" value="$(var ns)/pointcloud_map_filtered/pointcloud"/>
+  <let name="lidar_ml_detector/output/objects" value="$(var ns)/$(var lidar_detection_model_type)/objects"/>
+  <let name="lidar_rule_detector/output/cluster_objects" value="$(var ns)/clustering/objects_with_feature"/>
+  <let name="lidar_rule_detector/output/objects" value="$(var ns)/clustering/objects"/>
+  <let name="camera_lidar_rule_detector/output/objects" value="$(var ns)/clustering/camera_lidar_fusion/objects"/>
+  <let name="camera_lidar_rule_detector/output/cluster_objects" value="$(var ns)/clustering/objects_with_feature"/>
+  <let name="tracker_based_detector/input/clusters" value="$(var ns)/clustering/objects_with_feature"/>
+  <let name="tracker_based_detector/output/objects" value="$(var ns)/detection_by_tracker/objects"/>
+  <let name="lidar_object_filter/output/objects" value="$(var ns)/$(var lidar_detection_model_type)/validation/objects"/>
+  <let name="camera_lidar_object_filter/output/objects" value="$(var ns)/clustering/camera_lidar_fusion/filtered/objects"/>
+  <let name="radar_pipeline/output/objects" value="$(var ns)/radar/far_objects"/>
+  <let name="radar_object_filter/output/objects" value="$(var ns)/radar/far_objects"/>
 
   <!-- Module switching -->
-  <arg name="switch/detector/camera_lidar" default="false"/>
-  <arg name="switch/detector/lidar_dnn" default="false"/>
-  <arg name="switch/detector/lidar_rule" default="false"/>
-  <arg name="switch/detector/radar" default="false"/>
-  <arg name="switch/detector/radar_only" default="false"/>
-  <arg name="switch/detector/tracker_based" default="false"/>
+  <let name="switch/detector/camera_lidar" value="false"/>
+  <let name="switch/detector/lidar_dnn" value="false"/>
+  <let name="switch/detector/lidar_rule" value="false"/>
+  <let name="switch/detector/radar" value="false"/>
+  <let name="switch/detector/radar_only" value="false"/>
+  <let name="switch/detector/tracker_based" value="false"/>
   <let name="switch/detector/tracker_based" value="true" if="$(var use_detection_by_tracker)"/>
 
-  <arg name="switch/filter/pointcloud" default="false"/>
-  <arg name="switch/filter/camera_lidar_object" default="false"/>
-  <arg name="switch/filter/lidar_object" default="false"/>
+  <let name="switch/filter/pointcloud" value="false"/>
+  <let name="switch/filter/camera_lidar_object" value="false"/>
+  <let name="switch/filter/lidar_object" value="false"/>
 
-  <arg name="switch/merger/camera_lidar_radar" default="false"/>
-  <arg name="switch/merger/camera_lidar" default="false"/>
-  <arg name="switch/merger/lidar_radar" default="false"/>
-  <arg name="switch/merger/lidar" default="false"/>
+  <let name="switch/merger/camera_lidar_radar" value="false"/>
+  <let name="switch/merger/camera_lidar" value="false"/>
+  <let name="switch/merger/lidar_radar" value="false"/>
+  <let name="switch/merger/lidar" value="false"/>
 
   <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
     <let name="switch/filter/pointcloud" value="true"/>
@@ -129,6 +132,7 @@
   <group if="$(var switch/detector/camera_lidar)">
     <!-- Camera-Lidar detectors -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
+      <arg name="ns" value="$(var ns)"/>
       <arg name="number_of_cameras" value="$(var number_of_cameras)"/>
       <arg name="input/camera0/image" value="$(var input/camera0/image)"/>
       <arg name="input/camera0/info" value="$(var input/camera0/info)"/>
@@ -159,6 +163,7 @@
       <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="output/ml_detector/objects" value="$(var lidar_ml_detector/output/objects)"/>
       <arg name="output/rule_detector/objects" value="$(var camera_lidar_rule_detector/output/objects)"/>
+      <arg name="output/clustering/cluster_objects" value="$(var camera_lidar_rule_detector/output/cluster_objects)"/>
       <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
       <arg name="lidar_detection_model_type" value="$(var lidar_detection_model_type)"/>
       <arg name="lidar_detection_model_name" value="$(var lidar_detection_model_name)"/>
@@ -182,9 +187,11 @@
   <group if="$(var switch/detector/lidar_rule)">
     <!-- Lidar rule-based detectors-->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
+      <arg name="ns" value="$(var ns)"/>
       <arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
       <arg name="input/pointcloud_map/pointcloud" value="$(var pointcloud_filter/output/pointcloud)"/>
       <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
+      <arg name="output/cluster_objects" value="$(var lidar_rule_detector/output/cluster_objects)"/>
       <arg name="output/objects" value="$(var lidar_rule_detector/output/objects)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
     </include>
@@ -217,6 +224,8 @@
   <!-- DetectionByTracker -->
   <group if="$(var switch/detector/tracker_based)">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
+      <arg name="input/clusters" value="$(var tracker_based_detector/input/clusters)"/>
+      <arg name="input/tracked_objects" value="$(var input/tracked_objects)"/>
       <arg name="output/objects" value="$(var tracker_based_detector/output/objects)"/>
       <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
     </include>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index e06682853d956..da30500070850 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -1,5 +1,8 @@
 <?xml version="1.0"?>
 <launch>
+  <!-- Current namespace -->
+  <arg name="ns" description="current namespace"/>
+
   <!-- Lidar + Camera detector parameters -->
   <arg name="lidar_detection_model_type" description="options: `transfusion`, `centerpoint`, `pointpainting`, `apollo`, `clustering`"/>
   <arg name="lidar_detection_model_name" description="options: `transfusion`, `centerpoint`, `centerpoint_tiny`, `centerpoint_sigma`, `pointpainting`"/>
@@ -41,6 +44,35 @@
 
   <arg name="output/ml_detector/objects"/>
   <arg name="output/rule_detector/objects"/>
+  <arg name="output/clustering/cluster_objects"/>
+
+  <!-- Internal interfaces -->
+  <let name="pointpainting/input/pointcloud" value="$(var input/pointcloud)"/>
+  <let name="pointpainting/output/objects" value="$(var output/ml_detector/objects)"/>
+
+  <let name="segmentation_based_filtered/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+  <let name="segmentation_based_filtered/output/pointcloud" value="$(var ns)/segmentation_based_filtered/pointcloud"/>
+
+  <let name="euclidean_cluster/input/pointcloud" value="$(var segmentation_based_filtered/output/pointcloud)" if="$(var use_image_segmentation_based_filter)"/>
+  <let name="euclidean_cluster/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)" unless="$(var use_image_segmentation_based_filter)"/>
+  <let name="clustering/clusters" value="$(var ns)/clustering/clusters"/>
+  <let name="euclidean_cluster/output/clusters" value="$(var ns)/clustering/euclidean_cluster/clusters" if="$(var use_roi_based_cluster)"/>
+  <let name="euclidean_cluster/output/clusters" value="$(var clustering/clusters)" unless="$(var use_roi_based_cluster)"/>
+  <let name="roi_cluster/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+  <let name="roi_cluster/output/clusters" value="$(var ns)/clustering/roi_cluster/clusters"/>
+  <let name="roi_merged_cluster/output/clusters" value="$(var clustering/clusters)"/>
+  <let name="shape_estimation1/input/clusters" value="$(var clustering/clusters)"/>
+  <let name="shape_estimation1/output/objects" value="$(var output/clustering/cluster_objects)"/>
+
+  <let name="roi_cluster_fusion/input/clusters" value="$(var ns)/clustering/clusters"/>
+  <let name="roi_cluster_fusion/output/clusters" value="$(var ns)/clustering/camera_lidar_fusion/clusters"/>
+  <let name="low_intensity_cluster_filter/input/clusters" value="$(var roi_cluster_fusion/output/clusters)"/>
+  <let name="low_intensity_cluster_filter/output/clusters" value="$(var ns)/clustering/camera_lidar_fusion/filtered/clusters"/>
+  <let name="shape_estimation2/input/clusters" value="$(var low_intensity_cluster_filter/output/clusters)" if="$(var use_low_intensity_cluster_filter)"/>
+  <let name="shape_estimation2/input/clusters" value="$(var roi_cluster_fusion/output/clusters)" unless="$(var use_low_intensity_cluster_filter)"/>
+  <let name="shape_estimation2/output/objects" value="$(var ns)/clustering/camera_lidar_fusion/objects_with_feature"/>
+  <let name="detected_object_feature_remover/input/objects_with_feature" value="$(var shape_estimation2/output/objects)"/>
+  <let name="detected_object_feature_remover/output/objects" value="$(var output/rule_detector/objects)"/>
 
   <!-- Jetson AGX -->
   <!-- <include file="$(find-pkg-share autoware_tensorrt_yolox)/launch/multiple_yolox.launch.xml">
@@ -85,8 +117,8 @@
       <arg name="input/image5" value="$(var input/camera5/image)"/>
       <arg name="input/image6" value="$(var input/camera6/image)"/>
       <arg name="input/image7" value="$(var input/camera7/image)"/>
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="output/objects" value="$(var output/ml_detector/objects)"/>
+      <arg name="input/pointcloud" value="$(var pointpainting/input/pointcloud)"/>
+      <arg name="output/objects" value="$(var pointpainting/output/objects)"/>
 
       <arg name="model_name" value="$(var lidar_detection_model_name)"/>
       <arg name="model_path" value="$(var pointpainting_model_path)"/>
@@ -101,8 +133,8 @@
   <!-- Image_segmentation based filter, apply for camera0 only-->
   <group>
     <include file="$(find-pkg-share autoware_image_projection_based_fusion)/launch/segmentation_pointcloud_fusion.launch.xml" if="$(var use_image_segmentation_based_filter)">
-      <arg name="input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
-      <arg name="output/pointcloud" value="/perception/object_recognition/detection/segmentation_based_filtered/pointcloud"/>
+      <arg name="input/pointcloud" value="$(var segmentation_based_filtered/input/pointcloud)"/>
+      <arg name="output/pointcloud" value="$(var segmentation_based_filtered/output/pointcloud)"/>
     </include>
   </group>
 
@@ -110,14 +142,11 @@
   <group>
     <push-ros-namespace namespace="clustering"/>
     <group>
-      <let name="euclidean_cluster_input" value="$(var input/pointcloud_map/pointcloud)" unless="$(var use_image_segmentation_based_filter)"/>
-      <let name="euclidean_cluster_input" value="/perception/object_recognition/detection/segmentation_based_filtered/pointcloud" if="$(var use_image_segmentation_based_filter)"/>
-      <let name="euclidean_cluster_output" value="euclidean_cluster/clusters" if="$(var use_roi_based_cluster)"/>
-      <let name="euclidean_cluster_output" value="clusters" unless="$(var use_roi_based_cluster)"/>
       <include file="$(find-pkg-share autoware_euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
-        <arg name="input_pointcloud" value="$(var euclidean_cluster_input)"/>
-        <arg name="output_clusters" value="$(var euclidean_cluster_output)"/>
+        <arg name="input_pointcloud" value="$(var euclidean_cluster/input/pointcloud)"/>
+        <arg name="output_clusters" value="$(var euclidean_cluster/output/clusters)"/>
         <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+        <arg name="use_pointcloud_container" value="false"/>
       </include>
     </group>
 
@@ -151,8 +180,8 @@
           <arg name="input/image5" value="$(var input/camera5/image)"/>
           <arg name="input/image6" value="$(var input/camera6/image)"/>
           <arg name="input/image7" value="$(var input/camera7/image)"/>
-          <arg name="input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
-          <arg name="output_clusters" value="clusters"/>
+          <arg name="input/pointcloud" value="$(var roi_cluster/input/pointcloud)"/>
+          <arg name="output_clusters" value="$(var roi_cluster/output/clusters)"/>
           <arg name="param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
         </include>
       </group>
@@ -161,21 +190,21 @@
     <!-- simple_cluster_merger -->
     <group>
       <include file="$(find-pkg-share autoware_cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
-        <arg name="input/cluster0" value="euclidean_cluster/clusters"/>
-        <arg name="input/cluster1" value="roi_cluster/clusters"/>
-        <arg name="output/clusters" value="clusters"/>
+        <arg name="input/cluster0" value="$(var euclidean_cluster/output/clusters)"/>
+        <arg name="input/cluster1" value="$(var roi_cluster/output/clusters)"/>
+        <arg name="output/clusters" value="$(var roi_merged_cluster/output/clusters)"/>
       </include>
     </group>
 
+    <!-- shape_estimation 1 -->
     <group>
       <include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
-        <arg name="input/objects" value="clusters"/>
-        <arg name="output/objects" value="objects_with_feature"/>
+        <arg name="input/objects" value="$(var shape_estimation1/input/clusters)"/>
+        <arg name="output/objects" value="$(var shape_estimation1/output/objects)"/>
       </include>
     </group>
 
     <group>
-      <let name="input/clustering" value="/perception/object_recognition/detection/clustering/clusters"/>
       <push-ros-namespace namespace="camera_lidar_fusion"/>
       <!-- Fusion camera-lidar to classify -->
 
@@ -207,8 +236,8 @@
           <arg name="input/image5" value="$(var input/camera5/image)"/>
           <arg name="input/image6" value="$(var input/camera6/image)"/>
           <arg name="input/image7" value="$(var input/camera7/image)"/>
-          <arg name="input/clusters" value="$(var input/clustering)"/>
-          <arg name="output/clusters" value="clusters"/>
+          <arg name="input/clusters" value="$(var roi_cluster_fusion/input/clusters)"/>
+          <arg name="output/clusters" value="$(var roi_cluster_fusion/output/clusters)"/>
           <arg name="param_path" value="$(var roi_cluster_fusion_param_path)"/>
         </include>
       </group>
@@ -216,24 +245,22 @@
       <!-- low_intensity_cluster_filter -->
       <group>
         <include file="$(find-pkg-share autoware_raindrop_cluster_filter)/launch/low_intensity_cluster_filter.launch.xml" if="$(var use_low_intensity_cluster_filter)">
-          <arg name="input/objects" value="clusters"/>
-          <arg name="output/objects" value="filtered/clusters"/>
+          <arg name="input/objects" value="$(var low_intensity_cluster_filter/input/clusters)"/>
+          <arg name="output/objects" value="$(var low_intensity_cluster_filter/output/clusters)"/>
         </include>
       </group>
 
       <group>
-        <let name="shape_estimation/input" value="filtered/clusters" if="$(var use_low_intensity_cluster_filter)"/>
-        <let name="shape_estimation/input" value="clusters" unless="$(var use_low_intensity_cluster_filter)"/>
         <include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
-          <arg name="input/objects" value="$(var shape_estimation/input)"/>
-          <arg name="output/objects" value="objects_with_feature"/>
+          <arg name="input/objects" value="$(var shape_estimation2/input/clusters)"/>
+          <arg name="output/objects" value="$(var shape_estimation2/output/objects)"/>
         </include>
       </group>
       <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
       <group>
         <include file="$(find-pkg-share autoware_detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
-          <arg name="input" value="objects_with_feature"/>
-          <arg name="output" value="$(var output/rule_detector/objects)"/>
+          <arg name="input" value="$(var detected_object_feature_remover/input/objects_with_feature)"/>
+          <arg name="output" value="$(var detected_object_feature_remover/output/objects)"/>
         </include>
       </group>
     </group>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
index 76ed8ad5b2700..50cde24473d2c 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
@@ -1,20 +1,31 @@
 <?xml version="1.0"?>
 <launch>
+  <!-- Current namespace -->
+  <arg name="ns" description="current namespace"/>
+
   <!-- External interfaces -->
   <arg name="node/pointcloud_container"/>
   <arg name="input/pointcloud_map/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud"/>
+  <arg name="output/cluster_objects"/>
   <arg name="output/objects"/>
 
+  <!-- Internal interfaces -->
+  <let name="euclidean_cluster/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+  <let name="euclidean_cluster/output/clusters" value="$(var ns)/clustering/clusters"/>
+  <let name="shape_estimation/input/objects" value="$(var ns)/clustering/clusters"/>
+  <let name="shape_estimation/output/objects" value="$(var output/cluster_objects)"/>
+  <let name="detected_object_feature_remover/input" value="$(var output/cluster_objects)"/>
+  <let name="detected_object_feature_remover/output" value="$(var output/objects)"/>
+
   <!-- Clustering -->
   <group>
     <push-ros-namespace namespace="clustering"/>
     <group>
       <include file="$(find-pkg-share autoware_euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
-        <arg name="input_pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
-        <arg name="output_clusters" value="clusters"/>
+        <arg name="input_pointcloud" value="$(var euclidean_cluster/input/pointcloud)"/>
+        <arg name="output_clusters" value="$(var euclidean_cluster/output/clusters)"/>
         <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-
         <arg name="use_pointcloud_container" value="true"/>
         <arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
       </include>
@@ -22,16 +33,16 @@
 
     <group>
       <include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
-        <arg name="input/objects" value="clusters"/>
-        <arg name="output/objects" value="objects_with_feature"/>
+        <arg name="input/objects" value="$(var shape_estimation/input/objects)"/>
+        <arg name="output/objects" value="$(var shape_estimation/output/objects)"/>
       </include>
     </group>
 
     <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
     <group>
       <include file="$(find-pkg-share autoware_detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
-        <arg name="input" value="objects_with_feature"/>
-        <arg name="output" value="$(var output/objects)"/>
+        <arg name="input" value="$(var detected_object_feature_remover/input)"/>
+        <arg name="output" value="$(var detected_object_feature_remover/output)"/>
       </include>
     </group>
   </group>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
index 754542f65b0ba..286bd43a8cc1e 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
@@ -1,11 +1,17 @@
 <?xml version="1.0"?>
 <launch>
+  <!-- External interfaces -->
+  <arg name="input/clusters"/>
+  <arg name="input/tracked_objects"/>
   <arg name="output/objects"/>
+
   <!-- DetectionByTracker -->
   <group>
     <push-ros-namespace namespace="detection_by_tracker"/>
     <include file="$(find-pkg-share autoware_detection_by_tracker)/launch/detection_by_tracker.launch.xml">
       <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
+      <arg name="input/initial_objects" value="$(var input/clusters)"/>
+      <arg name="input/tracked_objects" value="$(var input/tracked_objects)"/>
       <arg name="output" value="$(var output/objects)"/>
     </include>
   </group>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 83c7c202e8c0a..02a34eab8fe9a 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -77,7 +77,7 @@
   <arg name="image_number" default="6" description="choose image raw number(1-8)"/>
   <arg name="use_vector_map" default="true" description="use vector map in prediction"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_low_height_cropbox" default="true" description="use low height crop filter in clustering"/>
+  <arg name="use_low_height_cropbox" default="true" description="use low height crop filter in the euclidean clustering"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="objects_filter_method" default="lanelet_filter" description="options: `lanelet_filter` or `position_filter`"/>
   <arg name="use_roi_based_cluster" default="true" description="use roi_based_cluster in clustering"/>

From b58d8f6d0d55ed94f2c15ece571c536a73eda6dc Mon Sep 17 00:00:00 2001
From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
Date: Thu, 12 Dec 2024 16:31:09 +0900
Subject: [PATCH 27/36] fix(lane_change): remove overlapping preceding lanes
 (#9526)

* fix(lane_change): remove overlapping preceding lanes

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* fix cpp check

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* start searching disconnected lanes directly

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* just remove starting from overlapped found

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* return non reversed lanes

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* fix precommit

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

---------

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
 .../utils/utils.hpp                           | 16 +++++++
 .../src/scene.cpp                             |  5 +--
 .../src/utils/utils.cpp                       | 43 ++++++++++++++++++-
 3 files changed, 60 insertions(+), 4 deletions(-)

diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp
index 5dcd132f16377..1386c60d29aea 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp
@@ -383,6 +383,22 @@ bool filter_target_lane_objects(
   const bool before_terminal, TargetLaneLeadingObjects & leading_objects,
   ExtendedPredictedObjects & trailing_objects);
 
+/**
+ * @brief Retrieves the preceding lanes for the target lanes while removing overlapping and
+ * disconnected lanes.
+ *
+ * This function identifies all lanes that precede the target lanes based on the ego vehicle's
+ * current position and a specified backward search length. The resulting preceding lanes are
+ * filtered to remove lanes that overlap with the current lanes or are not connected to the route.
+ *
+ * @param common_data_ptr Shared pointer to commonly used data in lane change module, which contains
+ * route handler information, lane details, ego vehicle pose, and behavior parameters.
+ *
+ * @return A vector of preceding lanelet groups, with each group containing only the connected and
+ * non-overlapping preceding lanes.
+ */
+std::vector<lanelet::ConstLanelets> get_preceding_lanes(const CommonDataPtr & common_data_ptr);
+
 /**
  * @brief Determines if the object's predicted path overlaps with the given lane polygon.
  *
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
index 2770831dbc485..5b8b8966f965b 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
@@ -112,9 +112,8 @@ void NormalLaneChange::update_lanes(const bool is_approved)
   common_data_ptr_->lanes_ptr->target_lane_in_goal_section =
     route_handler_ptr->isInGoalRouteSection(target_lanes.back());
 
-  common_data_ptr_->lanes_ptr->preceding_target = utils::getPrecedingLanelets(
-    *route_handler_ptr, get_target_lanes(), common_data_ptr_->get_ego_pose(),
-    common_data_ptr_->lc_param_ptr->backward_lane_length);
+  common_data_ptr_->lanes_ptr->preceding_target =
+    utils::lane_change::get_preceding_lanes(common_data_ptr_);
 
   lane_change_debug_.current_lanes = common_data_ptr_->lanes_ptr->current;
   lane_change_debug_.target_lanes = common_data_ptr_->lanes_ptr->target;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
index 4d46f8270fac3..13a119848a87a 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
@@ -34,9 +34,12 @@
 #include <autoware_lanelet2_extension/utility/query.hpp>
 #include <autoware_lanelet2_extension/utility/utilities.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info.hpp>
+#include <range/v3/action/insert.hpp>
 #include <range/v3/algorithm/any_of.hpp>
+#include <range/v3/algorithm/find_if.hpp>
+#include <range/v3/algorithm/for_each.hpp>
 #include <range/v3/range/conversion.hpp>
-#include <range/v3/view/transform.hpp>
+#include <range/v3/view.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <geometry_msgs/msg/detail/pose__struct.hpp>
@@ -56,6 +59,7 @@
 #include <memory>
 #include <optional>
 #include <string>
+#include <unordered_set>
 #include <vector>
 
 namespace autoware::behavior_path_planner::utils::lane_change
@@ -1246,6 +1250,43 @@ bool filter_target_lane_objects(
   return false;
 }
 
+std::vector<lanelet::ConstLanelets> get_preceding_lanes(const CommonDataPtr & common_data_ptr)
+{
+  const auto & route_handler_ptr = common_data_ptr->route_handler_ptr;
+  const auto & target_lanes = common_data_ptr->lanes_ptr->target;
+  const auto & ego_pose = common_data_ptr->get_ego_pose();
+  const auto backward_lane_length = common_data_ptr->lc_param_ptr->backward_lane_length;
+
+  const auto preceding_lanes_list =
+    utils::getPrecedingLanelets(*route_handler_ptr, target_lanes, ego_pose, backward_lane_length);
+
+  const auto & current_lanes = common_data_ptr->lanes_ptr->current;
+  std::unordered_set<lanelet::Id> current_lanes_id;
+  for (const auto & lane : current_lanes) {
+    current_lanes_id.insert(lane.id());
+  }
+  const auto is_overlapping = [&](const lanelet::ConstLanelet & lane) {
+    return current_lanes_id.find(lane.id()) != current_lanes_id.end();
+  };
+
+  std::vector<lanelet::ConstLanelets> non_overlapping_lanes_vec;
+  for (const auto & lanes : preceding_lanes_list) {
+    auto lanes_reversed = lanes | ranges::views::reverse;
+    auto overlapped_itr = ranges::find_if(lanes_reversed, is_overlapping);
+
+    if (overlapped_itr == lanes_reversed.begin()) {
+      continue;
+    }
+
+    // Lanes are not reversed by default. Avoid returning reversed lanes to prevent undefined
+    // behavior.
+    lanelet::ConstLanelets non_overlapping_lanes(overlapped_itr.base(), lanes.end());
+    non_overlapping_lanes_vec.push_back(non_overlapping_lanes);
+  }
+
+  return non_overlapping_lanes_vec;
+}
+
 bool object_path_overlaps_lanes(
   const ExtendedPredictedObject & object, const lanelet::BasicPolygon2d & lanes_polygon)
 {

From cccbcef3210b55700ca24fab92108af1286faabe Mon Sep 17 00:00:00 2001
From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
Date: Thu, 12 Dec 2024 17:39:23 +0900
Subject: [PATCH 28/36] refactor(lane_change): separate structs to different
 folders (#9625)

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
 .../{utils => }/base_class.hpp                | 24 +++++++++----------
 .../interface.hpp                             |  6 ++---
 .../manager.hpp                               |  2 +-
 .../scene.hpp                                 |  4 ++--
 .../data_structs.hpp => structs/data.hpp}     | 15 ++++++------
 .../debug_structs.hpp => structs/debug.hpp}   | 10 ++++----
 .../{utils => structs}/parameters.hpp         |  6 ++---
 .../{utils => structs}/path.hpp               | 17 +++++++------
 .../utils/calculation.hpp                     |  2 +-
 .../utils/markers.hpp                         |  4 ++--
 .../utils/utils.hpp                           |  4 ++--
 .../src/scene.cpp                             |  2 +-
 .../src/utils/markers.cpp                     |  1 -
 .../src/utils/utils.cpp                       |  4 ++--
 .../test/test_lane_change_scene.cpp           |  2 +-
 .../test/test_lane_change_utils.cpp           |  2 +-
 16 files changed, 52 insertions(+), 53 deletions(-)
 rename planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/{utils => }/base_class.hpp (93%)
 rename planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/{utils/data_structs.hpp => structs/data.hpp} (95%)
 rename planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/{utils/debug_structs.hpp => structs/debug.hpp} (87%)
 rename planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/{utils => structs}/parameters.hpp (95%)
 rename planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/{utils => structs}/path.hpp (78%)

diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/base_class.hpp
similarity index 93%
rename from planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp
rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/base_class.hpp
index 741b5afb50e08..5317b94db2d6b 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/base_class.hpp
@@ -11,12 +11,12 @@
 // 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__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__BASE_CLASS_HPP_
-#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__BASE_CLASS_HPP_
+#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__BASE_CLASS_HPP_
+#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__BASE_CLASS_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/debug_structs.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/path.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/debug.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/path.hpp"
 #include "autoware/behavior_path_lane_change_module/utils/utils.hpp"
 #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "autoware/behavior_path_planner_common/turn_signal_decider.hpp"
@@ -276,20 +276,20 @@ class LaneChangeBase
     }
   }
 
-  LaneChangeStatus status_{};
+  LaneChangeStatus status_;
   PathShifter path_shifter_{};
 
   LaneChangeStates current_lane_change_state_{};
 
-  std::shared_ptr<LaneChangeParameters> lane_change_parameters_{};
-  std::shared_ptr<LaneChangePath> abort_path_{};
-  std::shared_ptr<const PlannerData> planner_data_{};
-  lane_change::CommonDataPtr common_data_ptr_{};
+  std::shared_ptr<LaneChangeParameters> lane_change_parameters_;
+  std::shared_ptr<LaneChangePath> abort_path_;
+  std::shared_ptr<const PlannerData> planner_data_;
+  lane_change::CommonDataPtr common_data_ptr_;
   FilteredLanesObjects filtered_objects_{};
   BehaviorModuleOutput prev_module_output_{};
   std::optional<Pose> lane_change_stop_pose_{std::nullopt};
 
-  PathWithLaneId prev_approved_path_{};
+  PathWithLaneId prev_approved_path_;
 
   int unsafe_hysteresis_count_{0};
   bool is_abort_path_approved_{false};
@@ -311,4 +311,4 @@ class LaneChangeBase
   friend class ::TestNormalLaneChange;
 };
 }  // namespace autoware::behavior_path_planner
-#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__BASE_CLASS_HPP_
+#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__BASE_CLASS_HPP_
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp
index 07920f83fd980..9d6fbd65acfd8 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp
@@ -15,10 +15,10 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__INTERFACE_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__INTERFACE_HPP_
 
+#include "autoware/behavior_path_lane_change_module/base_class.hpp"
 #include "autoware/behavior_path_lane_change_module/scene.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/base_class.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/path.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/path.hpp"
 #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "autoware/behavior_path_planner_common/turn_signal_decider.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/manager.hpp
index 2a1862de6a27e..124579735e5d8 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/manager.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/manager.hpp
@@ -15,7 +15,7 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__MANAGER_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__MANAGER_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
 #include "autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp"
 #include "autoware/route_handler/route_handler.hpp"
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp
index 7202a1c6a9108..9bf66722dcec2 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp
@@ -14,8 +14,8 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__SCENE_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__SCENE_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/base_class.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
+#include "autoware/behavior_path_lane_change_module/base_class.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
 
 #include <memory>
 #include <utility>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/data.hpp
similarity index 95%
rename from planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp
rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/data.hpp
index c121ab8512cce..4dcb1c7b685d0 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/data.hpp
@@ -11,10 +11,10 @@
 // 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__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DATA_STRUCTS_HPP_
-#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DATA_STRUCTS_HPP_
+#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__DATA_HPP_
+#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__DATA_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/parameters.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/parameters.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
 
@@ -72,6 +72,7 @@ struct PhaseMetrics
   double actual_lon_accel{0.0};
   double lat_accel{0.0};
 
+  PhaseMetrics() = default;
   PhaseMetrics(
     const double _duration, const double _length, const double _velocity,
     const double _sampled_lon_accel, const double _actual_lon_accel, const double _lat_accel)
@@ -103,10 +104,10 @@ struct Info
   PhaseInfo duration{0.0, 0.0};
   PhaseInfo length{0.0, 0.0};
 
-  Pose lane_changing_start{};
-  Pose lane_changing_end{};
+  Pose lane_changing_start;
+  Pose lane_changing_end;
 
-  ShiftLine shift_line{};
+  ShiftLine shift_line;
 
   double lateral_acceleration{0.0};
   double terminal_lane_changing_velocity{0.0};
@@ -294,4 +295,4 @@ using FilteredLanesObjects = lane_change::FilteredLanesObjects;
 using LateralAccelerationMap = lane_change::LateralAccelerationMap;
 }  // namespace autoware::behavior_path_planner
 
-#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DATA_STRUCTS_HPP_
+#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__DATA_HPP_
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/debug_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/debug.hpp
similarity index 87%
rename from planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/debug_structs.hpp
rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/debug.hpp
index a28b8523a75c7..ea9807ad1616f 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/debug_structs.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/debug.hpp
@@ -11,11 +11,11 @@
 // 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__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DEBUG_STRUCTS_HPP_
-#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DEBUG_STRUCTS_HPP_
+#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__DEBUG_HPP_
+#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__DEBUG_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/path.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/path.hpp"
 
 #include <autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp>
 
@@ -76,4 +76,4 @@ struct Debug
 };
 }  // namespace autoware::behavior_path_planner::lane_change
 
-#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DEBUG_STRUCTS_HPP_
+#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__DEBUG_HPP_
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/parameters.hpp
similarity index 95%
rename from planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp
rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/parameters.hpp
index a76742307e061..719bbbbf3057a 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/parameters.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PARAMETERS_HPP_
-#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PARAMETERS_HPP_
+#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__PARAMETERS_HPP_
+#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__PARAMETERS_HPP_
 
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 
@@ -177,4 +177,4 @@ struct Parameters
 
 }  // namespace autoware::behavior_path_planner::lane_change
 
-#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PARAMETERS_HPP_
+#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__PARAMETERS_HPP_
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/path.hpp
similarity index 78%
rename from planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp
rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/path.hpp
index 5623f03a22eb3..0fa0a9d977a26 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/path.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PATH_HPP_
-#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PATH_HPP_
+#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__PATH_HPP_
+#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__PATH_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
 #include "autoware/behavior_path_planner_common/turn_signal_decider.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
 
@@ -29,19 +29,18 @@ using autoware::behavior_path_planner::TurnSignalInfo;
 using tier4_planning_msgs::msg::PathWithLaneId;
 struct Path
 {
-  PathWithLaneId path{};
-  ShiftedPath shifted_path{};
-  Info info{};
+  PathWithLaneId path;
+  ShiftedPath shifted_path;
+  Info info;
 };
 
 struct Status
 {
-  Path lane_change_path{};
+  Path lane_change_path;
   bool is_safe{false};
   bool is_valid_path{false};
   double start_distance{0.0};
 };
-
 }  // namespace autoware::behavior_path_planner::lane_change
 
 namespace autoware::behavior_path_planner
@@ -50,4 +49,4 @@ using LaneChangePath = lane_change::Path;
 using LaneChangePaths = std::vector<lane_change::Path>;
 using LaneChangeStatus = lane_change::Status;
 }  // namespace autoware::behavior_path_planner
-#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PATH_HPP_
+#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__PATH_HPP_
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp
index 29047c90590b3..eced227a5be32 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp
@@ -14,7 +14,7 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__CALCULATION_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__CALCULATION_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
 
 #include <autoware/route_handler/route_handler.hpp>
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp
index c95b388a2e4a4..4c2712f053b13 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp
@@ -15,8 +15,8 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__MARKERS_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__MARKERS_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/debug_structs.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/path.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/debug.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/path.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 
 #include <geometry_msgs/msg/detail/polygon__struct.hpp>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp
index 1386c60d29aea..0adb9409fb4b0 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp
@@ -15,8 +15,8 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__UTILS_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__UTILS_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/path.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/path.hpp"
 #include "autoware/behavior_path_planner_common/parameters.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 #include "autoware/behavior_path_planner_common/utils/utils.hpp"
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
index 5b8b8966f965b..a1c2d8467d1fc 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
@@ -681,7 +681,7 @@ void NormalLaneChange::resetParameters()
   is_abort_approval_requested_ = false;
   current_lane_change_state_ = LaneChangeStates::Normal;
   abort_path_ = nullptr;
-  status_ = {};
+  status_ = LaneChangeStatus();
   unsafe_hysteresis_count_ = 0;
   lane_change_debug_.reset();
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp
index ff0bd4437c21c..c7514fea01535 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp
@@ -14,7 +14,6 @@
 
 #include "autoware/behavior_path_planner_common/marker_utils/colors.hpp"
 #include "autoware/behavior_path_planner_common/marker_utils/utils.hpp"
-#include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
 
 #include <autoware/behavior_path_lane_change_module/utils/markers.hpp>
 #include <autoware/universe_utils/ros/marker_helper.hpp>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
index 13a119848a87a..2b1c744a926e3 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
@@ -14,8 +14,8 @@
 
 #include "autoware/behavior_path_lane_change_module/utils/utils.hpp"
 
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/path.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/path.hpp"
 #include "autoware/behavior_path_planner_common/parameters.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp
index ea36e4dc6960a..96b24d5aa9a9e 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp
@@ -14,7 +14,7 @@
 
 #include "autoware/behavior_path_lane_change_module/manager.hpp"
 #include "autoware/behavior_path_lane_change_module/scene.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
 #include "autoware/behavior_path_planner_common/data_manager.hpp"
 #include "autoware_test_utils/autoware_test_utils.hpp"
 #include "autoware_test_utils/mock_data_parser.hpp"
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_utils.cpp
index 68547a491324d..147a53672f30a 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_utils.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_utils.cpp
@@ -11,7 +11,7 @@
 // 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.
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
 
 #include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware/universe_utils/math/unit_conversion.hpp>

From a1dad4467c5a56faab7d41aee8231add06a84957 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Thu, 12 Dec 2024 17:59:03 +0900
Subject: [PATCH 29/36] fix(tier4_simulator_launch): add use_validator argument
 to simulator launch (#9634)

* feat: add use_validator argument to simulator launch

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: set variables explicitly

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 launch/tier4_simulator_launch/launch/simulator.launch.xml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml
index 4b2cefa02c2fa..73b00adf923be 100644
--- a/launch/tier4_simulator_launch/launch/simulator.launch.xml
+++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml
@@ -89,6 +89,9 @@
             <arg name="object_recognition_tracking_object_merger_data_association_matrix_param_path" value="$(var object_recognition_tracking_object_merger_data_association_matrix_param_path)"/>
             <arg name="object_recognition_tracking_object_merger_node_param_path" value="$(var object_recognition_tracking_object_merger_node_param_path)"/>
             <arg name="use_multi_channel_tracker_merger" value="false"/>
+            <arg name="use_radar_tracking_fusion" value="true"/>
+            <arg name="use_detection_by_tracker" value="true"/>
+            <arg name="use_validator" value="true"/>
           </include>
         </group>
         <!-- prediction module -->

From 1d9a2beb73d02fc114f5d046028292acc1d85da5 Mon Sep 17 00:00:00 2001
From: kobayu858 <129580202+kobayu858@users.noreply.github.com>
Date: Thu, 12 Dec 2024 19:00:57 +0900
Subject: [PATCH 30/36] fix(autoware_overlay_rviz_plugin): fix clang-tidy
 errors (#9627)

* fix: clang-tidy errors

Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp>

* fix: clang-fmt

Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp>

---------

Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp>
---
 .../autoware_overlay_rviz_plugin/src/speed_display.cpp    | 8 +++++---
 .../src/steering_wheel_display.cpp                        | 2 +-
 .../autoware_overlay_rviz_plugin/src/traffic_display.cpp  | 3 ---
 .../src/turn_signals_display.cpp                          | 2 +-
 4 files changed, 7 insertions(+), 8 deletions(-)

diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp
index faf9c39af672d..83d7f2f76bde3 100644
--- a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp
+++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp
@@ -84,7 +84,8 @@ void SpeedDisplay::drawSpeedDisplay(
   painter.setFont(referenceFont);
   QRect referenceRect = painter.fontMetrics().boundingRect("88");
   QPointF referencePos(
-    backgroundRect.width() / 2 - referenceRect.width() / 2 - 5, backgroundRect.height() / 2);
+    backgroundRect.width() / 2.0 - referenceRect.width() / 2.0 - 5.0,
+    backgroundRect.height() / 2.0);
 
   QString speedNumber = QString::number(current_speed_, 'f', 0);
   int fontSize = 40;
@@ -96,7 +97,7 @@ void SpeedDisplay::drawSpeedDisplay(
 
   // Center the speed number in the backgroundRect
   QPointF speedPos(
-    backgroundRect.center().x() - speedNumberRect.width() / 2,
+    backgroundRect.center().x() - speedNumberRect.width() / 2.0,
     backgroundRect.center().y() + speedNumberRect.bottom());
   painter.setPen(color);
   painter.drawText(speedPos, speedNumber);
@@ -106,7 +107,8 @@ void SpeedDisplay::drawSpeedDisplay(
   QString speedUnit = "km/h";
   QRect unitRect = painter.fontMetrics().boundingRect(speedUnit);
   QPointF unitPos(
-    (backgroundRect.width() / 2 - unitRect.width() / 2), referencePos.y() + unitRect.height() + 15);
+    (backgroundRect.width() / 2.0 - unitRect.width() / 2.0),
+    referencePos.y() + unitRect.height() + 15.0);
   painter.drawText(unitPos, speedUnit);
 }
 
diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp
index d475a8231e595..fec3ecfb90a43 100644
--- a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp
+++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp
@@ -93,7 +93,7 @@ void SteeringWheelDisplay::drawSteeringWheel(
   QImage rotatedWheel = wheel.transformed(rotationTransform, Qt::SmoothTransformation);
 
   QPointF drawPoint(
-    wheelCenterX - rotatedWheel.width() / 2, wheelCenterY - rotatedWheel.height() / 2);
+    wheelCenterX - rotatedWheel.width() / 2.0, wheelCenterY - rotatedWheel.height() / 2.0);
 
   // Draw the rotated image
   painter.drawImage(drawPoint.x(), drawPoint.y(), rotatedWheel);
diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp
index dddd9b52f3d0b..817d49889162a 100644
--- a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp
+++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp
@@ -83,9 +83,6 @@ void TrafficDisplay::drawTrafficLightIndicator(QPainter & painter, const QRectF
         painter.drawEllipse(circleRect);
         break;
       case 4:
-        painter.setBrush(tl_gray_);
-        painter.drawEllipse(circleRect);
-        break;
       default:
         painter.setBrush(tl_gray_);
         painter.drawEllipse(circleRect);
diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp
index 6748f01fe139b..ef0721d821e63 100644
--- a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp
+++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp
@@ -76,7 +76,7 @@ void TurnSignalsDisplay::drawArrows(
   QImage scaledLeftArrow = arrowImage.scaled(50, 32, Qt::KeepAspectRatio, Qt::SmoothTransformation);
   scaledLeftArrow = coloredImage(scaledLeftArrow, gray);
   QImage scaledRightArrow = scaledLeftArrow.mirrored(true, false);
-  int arrowYPos = (backgroundRect.height() / 2 - scaledLeftArrow.height() / 2 - 4);
+  int arrowYPos = (backgroundRect.height() / 2.0 - scaledLeftArrow.height() / 2.0 - 4.0);
   int leftArrowXPos = backgroundRect.left() + scaledLeftArrow.width() * 2 + 180;
   int rightArrowXPos = backgroundRect.right() - scaledRightArrow.width() * 3 - 175;
 

From 46cfadbe7397501e7669eda24bd9cde25e242039 Mon Sep 17 00:00:00 2001
From: kobayu858 <129580202+kobayu858@users.noreply.github.com>
Date: Thu, 12 Dec 2024 19:01:54 +0900
Subject: [PATCH 31/36] fix(tier4_state_rviz_plugin): fix
 bugprone-integer-division (#9628)

fix: bugprone-integer-division

Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp>
---
 visualization/tier4_state_rviz_plugin/src/custom_container.cpp  | 2 +-
 visualization/tier4_state_rviz_plugin/src/custom_icon_label.cpp | 2 +-
 .../tier4_state_rviz_plugin/src/custom_segmented_button.cpp     | 2 +-
 .../src/custom_segmented_button_item.cpp                        | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/visualization/tier4_state_rviz_plugin/src/custom_container.cpp b/visualization/tier4_state_rviz_plugin/src/custom_container.cpp
index 681cebbefd492..5f0895ddae9e7 100644
--- a/visualization/tier4_state_rviz_plugin/src/custom_container.cpp
+++ b/visualization/tier4_state_rviz_plugin/src/custom_container.cpp
@@ -51,7 +51,7 @@ void CustomContainer::paintEvent(QPaintEvent *)
 
   // Draw background
   QPainterPath path;
-  path.addRoundedRect(rect(), height() / 2, height() / 2);  // Use height for rounded corners
+  path.addRoundedRect(rect(), height() / 2.0, height() / 2.0);  // Use height for rounded corners
   painter.setPen(Qt::NoPen);
   painter.setBrush(QColor(
     autoware::state_rviz_plugin::colors::default_colors.surface.c_str()));  // Background color
diff --git a/visualization/tier4_state_rviz_plugin/src/custom_icon_label.cpp b/visualization/tier4_state_rviz_plugin/src/custom_icon_label.cpp
index 6e4d32d40f7fb..e01d2904ffbd2 100644
--- a/visualization/tier4_state_rviz_plugin/src/custom_icon_label.cpp
+++ b/visualization/tier4_state_rviz_plugin/src/custom_icon_label.cpp
@@ -65,7 +65,7 @@ void CustomIconLabel::paintEvent(QPaintEvent *)
 
   // Draw background circle
   QPainterPath path;
-  path.addEllipse(width() / 2 - radius, height() / 2 - radius, diameter, diameter);
+  path.addEllipse(width() / 2.0 - radius, height() / 2.0 - radius, diameter, diameter);
   painter.setPen(Qt::NoPen);
   painter.setBrush(backgroundColor);
   painter.drawPath(path);
diff --git a/visualization/tier4_state_rviz_plugin/src/custom_segmented_button.cpp b/visualization/tier4_state_rviz_plugin/src/custom_segmented_button.cpp
index 8063bdc0fbc28..87b4f7dba4653 100644
--- a/visualization/tier4_state_rviz_plugin/src/custom_segmented_button.cpp
+++ b/visualization/tier4_state_rviz_plugin/src/custom_segmented_button.cpp
@@ -66,7 +66,7 @@ void CustomSegmentedButton::paintEvent(QPaintEvent *)
 
   // Draw background
   QPainterPath path;
-  path.addRoundedRect(rect(), height() / 2, height() / 2);
+  path.addRoundedRect(rect(), height() / 2.0, height() / 2.0);
 
   painter.setPen(Qt::NoPen);
   painter.setBrush(
diff --git a/visualization/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp b/visualization/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp
index cdd3aa0d25263..192b1cbfa86f5 100644
--- a/visualization/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp
+++ b/visualization/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp
@@ -125,7 +125,7 @@ void CustomSegmentedButtonItem::paintEvent(QPaintEvent *)
   }
 
   QPainterPath path;
-  double radius = (height() - 2) / 2;
+  double radius = (height() - 2.0) / 2.0;
 
   path.setFillRule(Qt::WindingFill);
   if (isFirstButton) {

From 413805a0738e4b8aecb190d08bf7eaeafe7f8eaf Mon Sep 17 00:00:00 2001
From: kobayu858 <129580202+kobayu858@users.noreply.github.com>
Date: Thu, 12 Dec 2024 19:02:12 +0900
Subject: [PATCH 32/36] fix(autoware_pid_longitudinal_controller): fix
 bugprone-branch-clone (#9629)

fix: bugprone-branch-clone

Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp>
---
 .../src/smooth_stop.cpp                                     | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/control/autoware_pid_longitudinal_controller/src/smooth_stop.cpp b/control/autoware_pid_longitudinal_controller/src/smooth_stop.cpp
index cb87157fe1114..9ee4763c6c05f 100644
--- a/control/autoware_pid_longitudinal_controller/src/smooth_stop.cpp
+++ b/control/autoware_pid_longitudinal_controller/src/smooth_stop.cpp
@@ -140,9 +140,9 @@ double SmoothStop::calculate(
   // when the car is running
   if (is_running) {
     // when the car will not stop in a certain time
-    if (time_to_stop && *time_to_stop > m_params.weak_stop_time + delay_time) {
-      return m_strong_acc;
-    } else if (!time_to_stop && is_fast_vel) {
+    if (
+      (time_to_stop && *time_to_stop > m_params.weak_stop_time + delay_time) ||
+      (!time_to_stop && is_fast_vel)) {
       return m_strong_acc;
     }
 

From e8ea100332028f463de7ab215da5d433ff20952f Mon Sep 17 00:00:00 2001
From: kobayu858 <129580202+kobayu858@users.noreply.github.com>
Date: Thu, 12 Dec 2024 19:02:40 +0900
Subject: [PATCH 33/36] fix(perception_online_evaluator): fix
 bugprone-branch-clone (#9631)

fix: bugprone-branch-clone

Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp>
---
 .../src/metrics/detection_count.cpp                        | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp b/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp
index 4a1d97aeeb90b..1bbfb9e3ee963 100644
--- a/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp
+++ b/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp
@@ -110,10 +110,9 @@ void DetectionCounter::initializeDetectionMap()
        ++i) {
     for (const auto & range : getRanges()) {
       std::string range_str = range.toString();
-      if (time_series_counts_.find(i) == time_series_counts_.end()) {
-        time_series_counts_[i][range_str] = std::vector<rclcpp::Time>();
-        seen_uuids_[i][range_str] = std::set<std::string>();
-      } else if (time_series_counts_[i].find(range_str) == time_series_counts_[i].end()) {
+      if (
+        time_series_counts_[i].find(range_str) == time_series_counts_[i].end() ||
+        time_series_counts_.find(i) == time_series_counts_.end()) {
         time_series_counts_[i][range_str] = std::vector<rclcpp::Time>();
         seen_uuids_[i][range_str] = std::set<std::string>();
       }

From c77f1b923c8465a1bd32bf49945d2f27d04dadcb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?=
 <xmfcx@users.noreply.github.com>
Date: Fri, 13 Dec 2024 01:26:17 +0300
Subject: [PATCH 34/36] ci(build-and-test): set concurrency to sequential and
 remove workflow_dispatch (#9638)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: M. Fatih Cırıt <mfc@autoware.org>
---
 .github/workflows/build-and-test.yaml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
index 6b3886f124a44..60567d18b6beb 100644
--- a/.github/workflows/build-and-test.yaml
+++ b/.github/workflows/build-and-test.yaml
@@ -4,11 +4,11 @@ on:
   push:
     branches:
       - main
-  workflow_dispatch:
 
 concurrency:
-  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.run_id }}
-  cancel-in-progress: true
+  # Ensures sequential execution of this workflow
+  group: ${{ github.workflow }}
+  cancel-in-progress: false
 
 env:
   CC: /usr/lib/ccache/gcc

From 2127ca81d7631f098dd63de08b67bebb9c47d811 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?=
 <xmfcx@users.noreply.github.com>
Date: Fri, 13 Dec 2024 03:29:15 +0300
Subject: [PATCH 35/36] build(autoware_freespace_planning_algorithms): increase
 test timeout to 2 mins (#9639)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: M. Fatih Cırıt <mfc@autoware.org>
---
 planning/autoware_freespace_planning_algorithms/CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/planning/autoware_freespace_planning_algorithms/CMakeLists.txt b/planning/autoware_freespace_planning_algorithms/CMakeLists.txt
index 5b6013528f7fc..7ac50842d21e3 100644
--- a/planning/autoware_freespace_planning_algorithms/CMakeLists.txt
+++ b/planning/autoware_freespace_planning_algorithms/CMakeLists.txt
@@ -34,6 +34,7 @@ if(BUILD_TESTING)
   ament_add_ros_isolated_gtest(${PROJECT_NAME}-test
     test/src/test_freespace_planning_algorithms.cpp
   )
+  set_tests_properties(${PROJECT_NAME}-test PROPERTIES TIMEOUT 120)
   target_link_libraries(${PROJECT_NAME}-test
     ${PROJECT_NAME}
   )

From 86ba21f14dc31b53c7c06aba8644651ce120812a Mon Sep 17 00:00:00 2001
From: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com>
Date: Fri, 13 Dec 2024 15:17:05 +0900
Subject: [PATCH 36/36] test(autoware_behavior_path_start_planner_module): add
 unit tests for geometric shift pull out planner (#9640)

* feat(behavior_path_planner): add unit tests for geometric pull-out planner and improve collision check

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* feat(behavior_path_planner): add boolean parameter for divide_pull_out_path and update tests

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

---------

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
---
 .../CMakeLists.txt                            |  11 +
 .../geometric_pull_out.hpp                    |   2 +
 .../src/pull_out_planner_base.cpp             |   3 +
 .../test/test_geometric_pull_out.cpp          | 229 ++++++++++++++++++
 4 files changed, 245 insertions(+)
 create mode 100644 planning/behavior_path_planner/autoware_behavior_path_start_planner_module/test/test_geometric_pull_out.cpp

diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CMakeLists.txt
index 2da3051702103..3fa8ad7218fa2 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CMakeLists.txt
+++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CMakeLists.txt
@@ -15,4 +15,15 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/util.cpp
 )
 
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+  file(GLOB_RECURSE TEST_SOURCES test/*.cpp)
+  ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
+    ${TEST_SOURCES}
+  )
+  target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME})
+endif()
+
+
 ament_auto_package(INSTALL_TO_SHARE config)
diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/geometric_pull_out.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/geometric_pull_out.hpp
index 70ca2bdb10d37..18d1f3c3b9b81 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/geometric_pull_out.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/geometric_pull_out.hpp
@@ -45,6 +45,8 @@ class GeometricPullOut : public PullOutPlannerBase
   GeometricParallelParking planner_;
   ParallelParkingParameters parallel_parking_parameters_;
   std::shared_ptr<autoware::lane_departure_checker::LaneDepartureChecker> lane_departure_checker_;
+
+  friend class TestGeometricPullOut;
 };
 }  // namespace autoware::behavior_path_planner
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/pull_out_planner_base.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/pull_out_planner_base.cpp
index f7713ea2e91b2..42c5bead33604 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/pull_out_planner_base.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/pull_out_planner_base.cpp
@@ -24,6 +24,9 @@ bool PullOutPlannerBase::isPullOutPathCollided(
 
   // check for collisions
   const auto & dynamic_objects = planner_data_->dynamic_object;
+  if (!dynamic_objects) {
+    return false;
+  }
   const auto pull_out_lanes = start_planner_utils::getPullOutLanes(
     planner_data_, planner_data_->parameters.backward_path_length + parameters_.max_back_distance);
   // extract stop objects in pull out lane for collision check
diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/test/test_geometric_pull_out.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/test/test_geometric_pull_out.cpp
new file mode 100644
index 0000000000000..fb39e186afd4e
--- /dev/null
+++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/test/test_geometric_pull_out.cpp
@@ -0,0 +1,229 @@
+// Copyright 2024 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.
+
+#include <ament_index_cpp/get_package_share_directory.hpp>
+#include <autoware/behavior_path_start_planner_module/geometric_pull_out.hpp>
+#include <autoware/behavior_path_start_planner_module/start_planner_module.hpp>
+#include <autoware/behavior_path_start_planner_module/util.hpp>
+#include <autoware/lane_departure_checker/lane_departure_checker.hpp>
+#include <autoware/route_handler/route_handler.hpp>
+#include <autoware_lanelet2_extension/utility/query.hpp>
+#include <autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp>
+#include <autoware_test_utils/autoware_test_utils.hpp>
+
+#include <gtest/gtest.h>
+
+#include <iostream>
+#include <memory>
+#include <optional>
+#include <string>
+#include <vector>
+
+using autoware::behavior_path_planner::GeometricPullOut;
+using autoware::behavior_path_planner::StartPlannerParameters;
+using autoware::lane_departure_checker::LaneDepartureChecker;
+using autoware::test_utils::get_absolute_path_to_config;
+using autoware_planning_msgs::msg::LaneletRoute;
+using RouteSections = std::vector<autoware_planning_msgs::msg::LaneletSegment>;
+using autoware_planning_test_manager::utils::makeBehaviorRouteFromLaneId;
+
+namespace autoware::behavior_path_planner
+{
+
+class TestGeometricPullOut : public ::testing::Test
+{
+public:
+  std::optional<PullOutPath> plan(
+    const Pose & start_pose, const Pose & goal_pose, PlannerDebugData & planner_debug_data)
+  {
+    return geometric_pull_out_->plan(start_pose, goal_pose, planner_debug_data);
+  }
+
+protected:
+  void SetUp() override
+  {
+    rclcpp::init(0, nullptr);
+    node_ = rclcpp::Node::make_shared("geometric_pull_out", get_node_options());
+
+    load_parameters();
+    initialize_vehicle_info();
+    initialize_lane_departure_checker();
+    initialize_routeHandler();
+    initialize_geometric_pull_out_planner();
+    initialize_planner_data();
+  }
+
+  void TearDown() override { rclcpp::shutdown(); }
+  // Member variables
+  std::shared_ptr<rclcpp::Node> node_;
+  std::shared_ptr<autoware::route_handler::RouteHandler> route_handler_;
+  autoware::vehicle_info_utils::VehicleInfo vehicle_info_;
+  std::shared_ptr<GeometricPullOut> geometric_pull_out_;
+  std::shared_ptr<LaneDepartureChecker> lane_departure_checker_;
+  PlannerData planner_data_;
+
+private:
+  rclcpp::NodeOptions get_node_options() const
+  {
+    // Load common configuration files
+    auto node_options = rclcpp::NodeOptions{};
+
+    const auto common_param_path =
+      get_absolute_path_to_config("autoware_test_utils", "test_common.param.yaml");
+    const auto nearest_search_param_path =
+      get_absolute_path_to_config("autoware_test_utils", "test_nearest_search.param.yaml");
+    const auto vehicle_info_param_path =
+      get_absolute_path_to_config("autoware_test_utils", "test_vehicle_info.param.yaml");
+    const auto behavior_path_planner_param_path = get_absolute_path_to_config(
+      "autoware_behavior_path_planner", "behavior_path_planner.param.yaml");
+    const auto drivable_area_expansion_param_path = get_absolute_path_to_config(
+      "autoware_behavior_path_planner", "drivable_area_expansion.param.yaml");
+    const auto scene_module_manager_param_path = get_absolute_path_to_config(
+      "autoware_behavior_path_planner", "scene_module_manager.param.yaml");
+    const auto start_planner_param_path = get_absolute_path_to_config(
+      "autoware_behavior_path_start_planner_module", "start_planner.param.yaml");
+
+    autoware::test_utils::updateNodeOptions(
+      node_options, {common_param_path, nearest_search_param_path, vehicle_info_param_path,
+                     behavior_path_planner_param_path, drivable_area_expansion_param_path,
+                     scene_module_manager_param_path, start_planner_param_path});
+
+    return node_options;
+  }
+
+  void load_parameters()
+  {
+    const auto dp_double = [&](const std::string & s) {
+      return node_->declare_parameter<double>(s);
+    };
+    const auto dp_bool = [&](const std::string & s) { return node_->declare_parameter<bool>(s); };
+    // Load parameters required for planning
+    const std::string ns = "start_planner.";
+    lane_departure_check_expansion_margin_ =
+      dp_double(ns + "lane_departure_check_expansion_margin");
+    pull_out_max_steer_angle_ = dp_double(ns + "pull_out_max_steer_angle");
+    pull_out_arc_path_interval_ = dp_double(ns + "arc_path_interval");
+    center_line_path_interval_ = dp_double(ns + "center_line_path_interval");
+    th_moving_object_velocity_ = dp_double(ns + "th_moving_object_velocity");
+    divide_pull_out_path_ = dp_bool(ns + "divide_pull_out_path");
+    backward_path_length_ = dp_double("backward_path_length");
+    forward_path_length_ = dp_double("forward_path_length");
+  }
+
+  void initialize_vehicle_info()
+  {
+    vehicle_info_ = autoware::vehicle_info_utils::VehicleInfoUtils(*node_).getVehicleInfo();
+  }
+
+  void initialize_lane_departure_checker()
+  {
+    lane_departure_checker_ = std::make_shared<LaneDepartureChecker>();
+    lane_departure_checker_->setVehicleInfo(vehicle_info_);
+
+    autoware::lane_departure_checker::Param lane_departure_checker_params{};
+    lane_departure_checker_params.footprint_extra_margin = lane_departure_check_expansion_margin_;
+    lane_departure_checker_->setParam(lane_departure_checker_params);
+  }
+
+  void initialize_routeHandler()
+  {
+    // Load a sample lanelet map and create a route handler
+    const auto shoulder_map_path = autoware::test_utils::get_absolute_path_to_lanelet_map(
+      "autoware_test_utils", "road_shoulder/lanelet2_map.osm");
+    const auto map_bin_msg = autoware::test_utils::make_map_bin_msg(shoulder_map_path, 0.5);
+
+    route_handler_ = std::make_shared<autoware::route_handler::RouteHandler>(map_bin_msg);
+  }
+
+  void initialize_geometric_pull_out_planner()
+  {
+    auto parameters = std::make_shared<StartPlannerParameters>();
+    parameters->parallel_parking_parameters.pull_out_max_steer_angle = pull_out_max_steer_angle_;
+    parameters->parallel_parking_parameters.pull_out_arc_path_interval =
+      pull_out_arc_path_interval_;
+    parameters->parallel_parking_parameters.center_line_path_interval = center_line_path_interval_;
+    parameters->th_moving_object_velocity = th_moving_object_velocity_;
+    parameters->divide_pull_out_path = divide_pull_out_path_;
+
+    auto time_keeper = std::make_shared<autoware::universe_utils::TimeKeeper>();
+    geometric_pull_out_ =
+      std::make_shared<GeometricPullOut>(*node_, *parameters, lane_departure_checker_, time_keeper);
+  }
+
+  void initialize_planner_data()
+  {
+    planner_data_.parameters.backward_path_length = backward_path_length_;
+    planner_data_.parameters.forward_path_length = forward_path_length_;
+    planner_data_.parameters.wheel_base = vehicle_info_.wheel_base_m;
+    planner_data_.parameters.wheel_tread = vehicle_info_.wheel_tread_m;
+    planner_data_.parameters.front_overhang = vehicle_info_.front_overhang_m;
+    planner_data_.parameters.left_over_hang = vehicle_info_.left_overhang_m;
+    planner_data_.parameters.right_over_hang = vehicle_info_.right_overhang_m;
+  }
+
+  // Parameter variables
+  double lane_departure_check_expansion_margin_{0.0};
+  double pull_out_max_steer_angle_{0.0};
+  double pull_out_arc_path_interval_{0.0};
+  double center_line_path_interval_{0.0};
+  double th_moving_object_velocity_{0.0};
+  double backward_path_length_{0.0};
+  double forward_path_length_{0.0};
+  bool divide_pull_out_path_{false};
+};
+
+TEST_F(TestGeometricPullOut, GenerateValidGeometricPullOutPath)
+{
+  const auto start_pose =
+    geometry_msgs::build<geometry_msgs::msg::Pose>()
+      .position(geometry_msgs::build<geometry_msgs::msg::Point>().x(362.181).y(362.164).z(100.000))
+      .orientation(
+        geometry_msgs::build<geometry_msgs::msg::Quaternion>().x(0.0).y(0.0).z(0.709650).w(
+          0.704554));
+
+  const auto goal_pose =
+    geometry_msgs::build<geometry_msgs::msg::Pose>()
+      .position(geometry_msgs::build<geometry_msgs::msg::Point>().x(365.658).y(507.253).z(100.000))
+      .orientation(
+        geometry_msgs::build<geometry_msgs::msg::Quaternion>().x(0.0).y(0.0).z(0.705897).w(
+          0.708314));
+
+  // Set up current odometry at start pose
+  auto odometry = std::make_shared<nav_msgs::msg::Odometry>();
+  odometry->pose.pose = start_pose;
+  odometry->header.frame_id = "map";
+  planner_data_.self_odometry = odometry;
+
+  // Setup route
+  const auto route = makeBehaviorRouteFromLaneId(
+    4619, 4635, "autoware_test_utils", "road_shoulder/lanelet2_map.osm");
+  route_handler_->setRoute(route);
+
+  // Update planner data with the route handler
+  planner_data_.route_handler = route_handler_;
+  geometric_pull_out_->setPlannerData(std::make_shared<PlannerData>(planner_data_));
+
+  // Plan the pull out path
+  PlannerDebugData debug_data;
+  auto result = plan(start_pose, goal_pose, debug_data);
+
+  // Assert that a valid geometric geometric pull out path is generated
+  ASSERT_TRUE(result.has_value()) << "Geometric pull out path generation failed.";
+  EXPECT_EQ(result->partial_paths.size(), 2UL)
+    << "Generated geometric pull out path does not have the expected number of partial paths.";
+  EXPECT_EQ(debug_data.conditions_evaluation.back(), "success")
+    << "Geometric pull out path planning did not succeed.";
+}
+
+}  // namespace autoware::behavior_path_planner