Another reason that @esteve reminded me of is that we are starting a re-implementation project to fix all the problems with .AI, and we want to integrate between the two. So for example reusing visualisation becomes a lot easier without worrying about package name clashes with other parts of Autoware between the two versions if we can reuse that repository as-is. Long term there are parts that we want to recycle wholesale (e.g. visualisation again), and so not having to switch to a different repository for that is also a benefit. Long-term, this is more relevant to the peripheral parts such as visualisation and simulation than the core parts, but in the short term the core parts are also relevant.
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