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Package Summary
| Tags | No category tags. |
| Version | 0.43.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-04 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The MRM emergency stop operator package
Additional Links
No additional links.
Maintainers
- Makoto Kurihara
- Tomohito Ando
- Junya Sasaki
Authors
No additional authors.
mrm_emergency_stop_operator
Purpose
MRM emergency stop operator is a node that generates emergency stop commands according to the emergency stop MRM order.
Inner-workings / Algorithms
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
~/input/mrm/emergency_stop/operate |
tier4_system_msgs::srv::OperateMrm |
MRM execution order |
~/input/control/control_cmd |
autoware_control_msgs::msg::Control |
Control command output from the last node of the control component. Used for the initial value of the emergency stop command. |
Output
| Name | Type | Description |
|---|---|---|
~/output/mrm/emergency_stop/status |
tier4_system_msgs::msg::MrmBehaviorStatus |
MRM execution status |
~/output/mrm/emergency_stop/control_cmd |
autoware_control_msgs::msg::Control |
Emergency stop command |
Parameters
Node Parameters
| Name | Type | Default value | Explanation |
|---|---|---|---|
| update_rate | int | 30 |
Timer callback frequency [Hz] |
Core Parameters
| Name | Type | Default value | Explanation |
|---|---|---|---|
| target_acceleration | double | -2.5 |
Target acceleration for emergency stop [m/s^2] |
| target_jerk | double | -1.5 |
Target jerk for emergency stop [m/s^3] |
Assumptions / Known limits
TBD.
CHANGELOG
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package autoware_mrm_emergency_stop_operator \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
- Contributors: Fumiya Watanabe, 心刚
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat: apply [autoware_]{.title-ref} prefix for
[mrm_emergency_stop_operator]{.title-ref}
(#9973)
* feat(mrm_emergency_stop_operator): apply
[autoware_]{.title-ref} prefix (see below): Note:
* In this commit, I did not organize a folder structure. The folder
structure will be organized in the next some commits.
- The changes will follow the Autoware's guideline as below:
- https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder
- rename(mrm_emergency_stop_operator): move a header under `include/autoware`:
- Fixes due to this changes for .hpp/.cpp files will be applied in the next commit
- fix(mrm_emergency_stop_operator): fix include header path
- To follow the previous commit
- rename: [mrm_emergency_stop_operator]{.title-ref} => [autoware_mrm_emergency_stop_operator]{.title-ref}
- bug(autoware_mrm_emergency_stop_operator): revert wrongly updated copyrights
- bug(tier4_system_launch): fix a missing [autoware_]{.title-ref} for [mrm_emergency_stop_operator]{.title-ref}
* bug(autoware_mrm_emergency_stop_operator): fix critical bugs that contaminate topic names ---------
- Contributors: Fumiya Watanabe, Junya Sasaki
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)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
- fix: fix ticket links in CHANGELOG.rst (#9588)
- chore(package.xml): bump version to 0.39.0
(#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)
- fix(cpplint): include what you use - system (#9573)
- 0.39.0
- update changelog
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#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)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#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
- refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
- feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
- feat!: replace autoware_auto_msgs with autoware_msgs for system modules (#7249) Co-authored-by: Cynthia Liu <<cynthia.liu@autocore.ai>> Co-authored-by: NorahXiong <<norah.xiong@autocore.ai>> Co-authored-by: beginningfan <<beginning.fan@autocore.ai>>
- feat(mrm_emergency_stop_operator): add support for real time param reconfigure for mrm_emergency_stop (#6994) add support for real time param reconfigure for mrm_emergency_stop
- Contributors: Kosuke Takeuchi, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo, danielsanchezaran
0.26.0 (2024-04-03)
- chore(mrm_emergency_stop_operator): add a maintainer for mrm operator… (#3489) chore(mrm_emergency_stop_operator): add a maintainer for mrm operator packages
- docs(mrm_emergency_stop_operator): fix file name (#4226)
- style: fix typos
(#3617)
- style: fix typos in documents
- style: fix typos in package.xml
- style: fix typos in launch files
* style: fix typos in comments ---------
- build: mark autoware_cmake as <buildtool_depend>
(#3616)
* build: mark autoware_cmake as <buildtool_depend> with
<build_depend>, autoware_cmake is automatically exported with
ament_target_dependencies() (unecessary)
- style(pre-commit): autofix
* chore: fix pre-commit errors ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Kenji Miyake <<kenji.miyake@tier4.jp>>
- fix(mrm_emergency_stop_operator): fix parameter loading in mrm
operators
(#2378)
- fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators
- ci(pre-commit): autofix
- fix(mrm_emergency_stop_operator): remove os import
* fix(mrm_emergency_stop_operator): remove unused packages Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- feat(emergency_handler): add a selector for multiple MRM behaviors
(#2070)
- feat(emergency_handler): add mrm command and status publishers
- feat(autoware_ad_api_msgs): define mrm operation srv and mrm status msg
- feat(emergency_handler): add mrm clients and subscribers
- feat(mrm_comfortable_stop_operator): ready ros2 node template
- feat(mrm_comfortable_stop_operator): implemented
- feat(mrm_comfortable_stop_operator): implement as component
- chore(mrm_comfortable_stop_operator): add a launch script
- refactor(mrm_comfortable_stop_operator): remove a xml launch file
- feat(autoware_ad_api_msgs): change mrm status msg
- feat(emergency_handler): add mrm operator and mrm behavior updater
- feat(emergency_handler): add mrm behavior state machine
- feat(emergency_handler): remap io names
- fix(emergency_handler): fix request generation
- fix(emergency_handler): add multi thread execution for service
- feat(vehicle_cmd_gate): add mrm operation service and status publisher
- refactor(mrm_comfortable_stop_operator): use MRMBehaviorStatus struct
- fix(mrm_comfortable_stop_operator): add time stamp for status
- feat(vehicle_cmd_gate): change system emergency state by mrm operation
- chore(autoware_ad_api_msgs): remove rti_operating state from mrm status
- feat(mrm_sudden_stop_operator): add mrm_sudden_stop_operator
- refactor(autoware_ad_api_msgs): rename from mrm status to mrm state
- fix(mrm_comfortable_stop_operator): set qos for velocity limit publisher
- feat(emergency_handler): add mrm state publisher
- feat(vehicle_cmd_gate): add subscription for mrm_state
- fix(mrm_sudden_stop_operator): fix control command topic name
- feat(vehicle_cmd_gate): pub emergency control_cmd according to mrm state
- feat(emergency_handler): remove emergency control_cmd publisher
- chore(tier4_control_launch): remap mrm state topic
- feat(tier4_system_launch): launch mrm operators
- fix(emergency_handler): fix autoware_ad_api_msgs to autoware_adapi_v1_msgs
- fix(vehicle_cmd_gate): remove subscribers for emergency_state and mrm operation
- fix(vehicle_cmd_gate): fix system emergency condition
- fix(emergency_handler): add stamp for mrm_state
- fix(mrm_emergency_stop_operator): rename sudden stop to emergency stop
- fix(vehicle_cmd_gate): remove emergency stop status publisher
- fix(emergency_handler): replace emergency state to mrm state
- feat(mrm_emergency_stop_operator): add is_available logic
- feat(emergency_handler): add use_comfortable_stop param
- refactor(emergency_handler): rename getCurrentMRMBehavior
- feat(emergency_handler): add mrm available status for ready conditions
- feat(emergency_handler): add readme
- fix(mrm_comfortable_stop_operator): fix update rate
- refactor(emergency_handler): move MRMBehaviorStatus msg to tier4_system_msgs
- feat(emergency_handler): describe new io for emergency_handler
- fix(emergency_handler): remove extra settings
- fix(mrm_emergency_stop_operator): fix is_available condition
- fix(mrm_emergency_stop_operator): fix typo
- ci(pre-commit): autofix
- fix(mrm_emergency_stop_operator): remove extra descriptions on config files
- fix(mrm_comfortable_stop_operator): fix typo
- chore(mrm_comfortable_stop_operator): change words
- chore(mrm_comfortable_stop_operator): change maintainer infomation
- fix(emergency_handler): fix acronyms case
- chore(emergency_handler): add a maintainer
- fix(emergency_handler): fix to match msg changes
- fix(vehicle_cmd_gate): remove an extra include
- ci(pre-commit): autofix
- fix(emergency_handler): fix topic name spaces
- fix(emergency_handler): fix acronyms case
* chore(tier4_system_launch): add a mrm comfortable stop parameter Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- Contributors: Kenji Miyake, Makoto Kurihara, Takamasa Horibe, Vincent Richard
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake_auto | |
| autoware_cmake | |
| ament_lint_auto | |
| autoware_lint_common | |
| autoware_adapi_v1_msgs | |
| autoware_control_msgs | |
| autoware_utils | |
| rclcpp | |
| rclcpp_components | |
| std_msgs | |
| std_srvs | |
| tier4_system_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| tier4_system_launch |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_mrm_emergency_stop_operator at Robotics Stack Exchange
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