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Package Summary
| Tags | No category tags. |
| Version | 0.44.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-25 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The mrm_handler ROS 2 package
Additional Links
No additional links.
Maintainers
- Makoto Kurihara
- Ryuta Kambe
- Tetsuhiro Kawaguchi
- Junya Sasaki
Authors
No additional authors.
mrm_handler
Purpose
MRM Handler is a node to select a proper MRM from a system failure state contained in OperationModeAvailability.
Inner-workings / Algorithms
State Transitions
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
/localization/kinematic_state |
nav_msgs::msg::Odometry |
Used to decide whether vehicle is stopped or not |
/system/operation_mode/availability |
tier4_system_msgs::msg::OperationModeAvailability |
Used to select proper MRM from system available mrm behavior contained in operationModeAvailability |
/vehicle/status/control_mode |
autoware_vehicle_msgs::msg::ControlModeReport |
Used to check vehicle mode: autonomous or manual |
/system/mrm/emergency_stop/status |
tier4_system_msgs::msg::MrmBehaviorStatus |
Used to check if MRM emergency stop operation is available |
/system/mrm/comfortable_stop/status |
tier4_system_msgs::msg::MrmBehaviorStatus |
Used to check if MRM comfortable stop operation is available |
/system/mrm/pull_over_manager/status |
tier4_system_msgs::msg::MrmBehaviorStatus |
Used to check if MRM pull over operation is available |
/api/operation_mode/state |
autoware_adapi_v1_msgs::msg::OperationModeState |
Used to check whether the current operation mode is AUTO or STOP. |
Output
| Name | Type | Description |
|---|---|---|
/system/emergency/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
Required to execute proper MRM (send gear cmd) |
/system/emergency/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
Required to execute proper MRM (send turn signal cmd) |
/system/fail_safe/mrm_state |
autoware_adapi_v1_msgs::msg::MrmState |
Inform MRM execution state and selected MRM behavior |
/system/mrm/emergency_stop/operate |
tier4_system_msgs::srv::OperateMrm |
Execution order for MRM emergency stop |
/system/mrm/comfortable_stop/operate |
tier4_system_msgs::srv::OperateMrm |
Execution order for MRM comfortable stop |
/system/mrm/pull_over_manager/operate |
tier4_system_msgs::srv::OperateMrm |
Execution order for MRM pull over |
Parameters
{{ json_to_markdown(“system/autoware_mrm_handler/schema/mrm_handler.schema.json”) }}
Assumptions / Known limits
TBD.
CHANGELOG
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package autoware_mrm_handler \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^
0.44.0 (2025-04-18)
- Merge remote-tracking branch 'origin/main' into humble
- feat(mrm_handler): modify log level (#10425)
- Contributors: Ryohsuke Mitsudome, Takagi, Isamu
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_handler]{.title-ref}
(#9974)
* feat(mrm_handler): 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_handler): move a header under `include/autoware`:
- Fixes due to this changes for .hpp/.cpp files will be applied in the next commit
- fix(mrm_handler): fix include header path
- To follow the previous commit
- rename: [mrm_handler]{.title-ref} => [autoware_mrm_handler]{.title-ref}
- bug(tier4_system_launch): fix a missing [autoware_]{.title-ref} for [mrm_handler]{.title-ref}
- bug(mrm_handler): revert wrongly updated copyrights
- update(mrm_handler): [README.md]{.title-ref}
* bug(autoware_mrm_handler): fix a critical bug that contaminates topic name ---------
- 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)
- 0.39.0
- update changelog
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- feat(mrm_handler): mrm handler publish emergecy holding
(#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)
- 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, 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)
- 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
- fix(mrm_handler, emergency_handler): remove unnecessary depend
(#8099)
- fix(mrm_handler): remove unnecessary depends
* fix(emergency_handler): remove unnecessary depends ---------
- feat(mrm_handler): input gear command
(#8080)
- feat(mrm_handler): input gear command
- style(pre-commit): autofix
* fix minor ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- fix(mrm_handler): add check for autonomous mode and do some
refactoring
(#8067)
- add check for autonomous mode and do some refactoring
- add comments
* fix comment ---------
-
feat(mrm_handler): operate mrm only when autonomous operation mode (#7784) * feat: add isOperationModeAutonomous() function to MRM handler core The code changes add a new function [isOperationModeAutonomous()]{.title-ref} to the MRM handler core. This function is used to check if the operation mode is set to autonomous. ---------
- refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
- fix(mrm_handler): fix multiCondition warning (#7543)
- feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
- fix(mrm_handler): fix stop judgement (#7362) fix stop judgement Co-authored-by: Autumn60 <<akiro.harada@tier4.jp>>
- feat(emergency_handler, mrm_handler): change to read topic by
polling
(#7297)
- replace Subscription to InterProcessPollingSubscriber
- sort depend packages list in package.xml
- fix end of file
- clang format
- chore: fix comments
* replace Subscription to InterProcessPollingSubscriber (mrm_handler) ---------Co-authored-by: Autumn60 <<akiro.harada@tier4.jp>>
- refactor(mrm_handler): use switch for state machine
(#7277)
- refactor nested if elses
- delete other commits
* return for consistency ---------
- fix(emergency_handler,mrm_handler): check for ego speed when
determining the gear command
(#7264)
- check for ego speed when determining the gear command
- add gear history
* update msg types ---------Co-authored-by: veqcc <<ryuta.kambe@tier4.jp>>
- 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: componentize-mrm-handler (#7018)
- Contributors: Autumn60, Kosuke Takeuchi, Kyoichi Sugahara, Ryohsuke Mitsudome, Ryuta Kambe, Takayuki Murooka, TetsuKawa, Yutaka Kondo, danielsanchezaran
0.26.0 (2024-04-03)
- fix(mrm_handler): fix bug in operation mode availability timeout
(#6513)
- fix operation mode availability timeout
- feat: add timeouts of request services
(#6532)
- feat: add timeouts of request services
- style(pre-commit): autofix
- feat: replace define with enum
- style(pre-commit): autofix
- modify: renam a function
- modify: rename a function
* modify: fix functions name at the caller side ---------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>> Co-authored-by: Ryuta Kambe <<veqcc.c@gmail.com>>
- refactor(mrm_handler): delete control_cmd publish function
(#6514)
- refactor(mrm_handler): delete control_cmd publish function
- feat(mrm_handler, emergency_handler): remove takeover (#6522) update(mrm_handler, emergency_handler): remove takeover
- feat(mrm_handler): add mrm_handler
(#6400)
- feat: add mrm_handler
- style(pre-commit): autofix
- modify: update README
- feat: refactor isArrivedAtGoal()
- modify: fix error massages gramatically.
- feat: update the person in charge of the unimplemented parts
- modify: fix typo in schema.json
- modify: fix copyright
- modify: fix mistakes in README
- modify: correct a type mistake in README
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Makoto Kurihara <<mkuri8m@gmail.com>>
- Contributors: Ryuta Kambe, TetsuKawa
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_utils | |
| autoware_vehicle_msgs | |
| nav_msgs | |
| rclcpp | |
| rclcpp_components | |
| tier4_system_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| tier4_system_launch |
Launch files
- launch/mrm_handler.launch.xml
-
- input_operation_mode_availability [default: /system/operation_mode/availability]
- input_odometry [default: /localization/kinematic_state]
- input_control_mode [default: /vehicle/status/control_mode]
- input_mrm_pull_over_state [default: /system/mrm/pull_over_manager/status]
- input_mrm_comfortable_stop_state [default: /system/mrm/comfortable_stop/status]
- input_mrm_emergency_stop_state [default: /system/mrm/emergency_stop/status]
- input_api_operation_mode_state [default: /api/operation_mode/state]
- input_gear [default: /control/command/gear_cmd]
- output_gear [default: /system/emergency/gear_cmd]
- output_hazard [default: /system/emergency/hazard_lights_cmd]
- output_mrm_state [default: /system/fail_safe/mrm_state]
- output_emergency_holding [default: /system/emergency_holding]
- output_mrm_pull_over_operate [default: /system/mrm/pull_over_manager/operate]
- output_mrm_comfortable_stop_operate [default: /system/mrm/comfortable_stop/operate]
- output_mrm_emergency_stop_operate [default: /system/mrm/emergency_stop/operate]
- config_file [default: $(find-pkg-share autoware_mrm_handler)/config/mrm_handler.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_mrm_handler at Robotics Stack Exchange
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