
class LaneDepartureCheckerNode : public rclcpp::Node
{
public:
  explicit LaneDepartureCheckerNode(const rclcpp::NodeOptions & options);

private:
  // Subscriber
  tier4_autoware_utils::SelfPoseListener self_pose_listener_{this};
  rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr sub_odom_;
  rclcpp::Subscription<HADMapBin>::SharedPtr sub_lanelet_map_bin_;
  rclcpp::Subscription<HADMapRoute>::SharedPtr sub_route_;
  rclcpp::Subscription<Trajectory>::SharedPtr sub_reference_trajectory_;
  rclcpp::Subscription<Trajectory>::SharedPtr sub_predicted_trajectory_;