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autoware_operation_mode_transition_manager package from autoware_universe repo

autoware_adapi_specs autoware_agnocast_wrapper autoware_auto_common autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_gyro_odometer autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_ndt_scan_matcher autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initializer autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_tf_generator autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_crossing_objects_noise_filter autoware_radar_fusion_to_detected_object autoware_radar_object_clustering autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simple_object_merger autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_mission_planner_universe autoware_obstacle_cruise_planner autoware_obstacle_stop_planner autoware_path_optimizer autoware_path_smoother autoware_planning_validator autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_component_monitor autoware_component_state_monitor autoware_default_adapi autoware_adapi_adaptors autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_processing_time_checker autoware_system_diagnostic_monitor autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_datetime_rviz_plugin tier4_localization_rviz_plugin tier4_planning_factor_rviz_plugin tier4_planning_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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 operation_mode_transition_manager package

Additional Links

No additional links.

Maintainers

  • Takamasa Horibe
  • Tomoya Kimura
  • Takayuki Murooka

Authors

  • Takamasa Horibe

autoware_operation_mode_transition_manager

Purpose / Use cases

This module is responsible for managing the different modes of operation for the Autoware system. The possible modes are:

  • Autonomous: the vehicle is fully controlled by the autonomous driving system
  • Local: the vehicle is controlled by a physically connected control system such as a joy stick
  • Remote: the vehicle is controlled by a remote controller
  • Stop: the vehicle is stopped and there is no active control system.

There is also an In Transition state that occurs during each mode transitions. During this state, the transition to the new operator is not yet complete, and the previous operator is still responsible for controlling the system until the transition is complete. Some actions may be restricted during the In Transition state, such as sudden braking or steering. (This is restricted by the vehicle_cmd_gate).

Features

  • Transit mode between Autonomous, Local, Remote and Stop based on the indication command.
  • Check whether the each transition is available (safe or not).
  • Limit some sudden motion control in In Transition mode (this is done with vehicle_cmd_gate feature).
  • Check whether the transition is completed.

  • Transition between the Autonomous, Local, Remote, and Stop modes based on the indicated command.
  • Determine whether each transition is safe to execute.
  • Restrict certain sudden motion controls during the In Transition mode (using the vehicle_cmd_gate feature).
  • Verify that the transition is complete.

Design

A rough design of the relationship between autoware_operation_mode_transition_manager` and the other nodes is shown below.

transition_rough_structure

A more detailed structure is below.

transition_detailed_structure

Here we see that autoware_operation_mode_transition_manager has multiple state transitions as follows

  • AUTOWARE ENABLED <—> DISABLED
    • ENABLED: the vehicle is controlled by Autoware.
    • DISABLED: the vehicle is out of Autoware control, expecting the e.g. manual driving.
  • AUTOWARE ENABLED <—> AUTO/LOCAL/REMOTE/NONE
    • AUTO: the vehicle is controlled by Autoware, with the autonomous control command calculated by the planning/control component.
    • LOCAL: the vehicle is controlled by Autoware, with the locally connected operator, e.g. joystick controller.
    • REMOTE: the vehicle is controlled by Autoware, with the remotely connected operator.
    • NONE: the vehicle is not controlled by any operator.
  • IN TRANSITION <—> COMPLETED
    • IN TRANSITION: the mode listed above is in the transition process, expecting the former operator to have a responsibility to confirm the transition is completed.
    • COMPLETED: the mode transition is completed.

Inputs / Outputs / API

Inputs

For the mode transition:

  • /system/operation_mode/change_autoware_control [tier4_system_msgs/srv/ChangeAutowareControl]: change operation mode to Autonomous
  • /system/operation_mode/change_operation_mode [tier4_system_msgs/srv/ChangeOperationMode]: change operation mode

For the transition availability/completion check:

  • /control/command/control_cmd [autoware_control_msgs/msg/Control]: vehicle control signal
  • /localization/kinematic_state [nav_msgs/msg/Odometry]: ego vehicle state
  • /planning/scenario_planning/trajectory [autoware_planning_msgs/msg/Trajectory]: planning trajectory
  • /vehicle/status/control_mode [autoware_vehicle_msgs/msg/ControlModeReport]: vehicle control mode (autonomous/manual)
  • /control/vehicle_cmd_gate/operation_mode [autoware_adapi_v1_msgs/msg/OperationModeState]: the operation mode in the vehicle_cmd_gate. (To be removed)

For the backward compatibility (to be removed):

  • /api/autoware/get/engage [autoware_vehicle_msgs/msg/Engage]
  • /control/current_gate_mode [tier4_control_msgs/msg/GateMode]
  • /control/external_cmd_selector/current_selector_mode [tier4_control_msgs/msg/ExternalCommandSelectorMode]

Outputs

  • /system/operation_mode/state [autoware_adapi_v1_msgs/msg/OperationModeState]: to inform the current operation mode
  • /control/autoware_operation_mode_transition_manager/debug_info [autoware_operation_mode_transition_manager/msg/OperationModeTransitionManagerDebug]: detailed information about the operation mode transition

  • /control/gate_mode_cmd [tier4_control_msgs/msg/GateMode]: to change the vehicle_cmd_gate state to use its features (to be removed)
  • /autoware/engage [autoware_vehicle_msgs/msg/Engage]:

  • /control/control_mode_request [autoware_vehicle_msgs/srv/ControlModeCommand]: to change the vehicle control mode (autonomous/manual)
  • /control/external_cmd_selector/select_external_command [tier4_control_msgs/srv/ExternalCommandSelect]:

Parameters

{{ json_to_markdown(“control/autoware_operation_mode_transition_manager/schema/operation_mode_transition_manager.schema.json”) }}

Name Type Description Default value
transition_timeout double If the state transition is not completed within this time, it is considered a transition failure. 10.0
frequency_hz double running hz 10.0
enable_engage_on_driving bool Set true if you want to engage the autonomous driving mode while the vehicle is driving. If set to false, it will deny Engage in any situation where the vehicle speed is not zero. Note that if you use this feature without adjusting the parameters, it may cause issues like sudden deceleration. Before using, please ensure the engage condition and the vehicle_cmd_gate transition filter are appropriately adjusted. 0.1
check_engage_condition bool If false, autonomous transition is always available 0.1
nearest_dist_deviation_threshold double distance threshold used to find nearest trajectory point 3.0
nearest_yaw_deviation_threshold double angle threshold used to find nearest trajectory point 1.57

For engage_acceptable_limits related parameters:

Name Type Description Default value
allow_autonomous_in_stopped bool If true, autonomous transition is available when the vehicle is stopped even if other checks fail. true
dist_threshold double the distance between the trajectory and ego vehicle must be within this distance for Autonomous transition. 1.5
yaw_threshold double the yaw angle between trajectory and ego vehicle must be within this threshold for Autonomous transition. 0.524
speed_upper_threshold double the velocity deviation between control command and ego vehicle must be within this threshold for Autonomous transition. 10.0
speed_lower_threshold double the velocity deviation between the control command and ego vehicle must be within this threshold for Autonomous transition. -10.0
acc_threshold double the control command acceleration must be less than this threshold for Autonomous transition. 1.5
lateral_acc_threshold double the control command lateral acceleration must be less than this threshold for Autonomous transition. 1.0
lateral_acc_diff_threshold double the lateral acceleration deviation between the control command must be less than this threshold for Autonomous transition. 0.5

For stable_check related parameters:

Name Type Description Default value
duration double the stable condition must be satisfied for this duration to complete the transition. 0.1
dist_threshold double the distance between the trajectory and ego vehicle must be within this distance to complete Autonomous transition. 1.5
yaw_threshold double the yaw angle between trajectory and ego vehicle must be within this threshold to complete Autonomous transition. 0.262
speed_upper_threshold double the velocity deviation between control command and ego vehicle must be within this threshold to complete Autonomous transition. 2.0
speed_lower_threshold double the velocity deviation between control command and ego vehicle must be within this threshold to complete Autonomous transition. 2.0

Engage check behavior on each parameter setting

This matrix describes the scenarios in which the vehicle can be engaged based on the combinations of parameter settings:

enable_engage_on_driving check_engage_condition allow_autonomous_in_stopped Scenarios where engage is permitted
x x x Only when the vehicle is stationary.
x x o Only when the vehicle is stationary.
x o x When the vehicle is stationary and all engage conditions are met.
x o o Only when the vehicle is stationary.
o x x At any time (Caution: Not recommended).
o x o At any time (Caution: Not recommended).
o o x When all engage conditions are met, regardless of vehicle status.
o o o When all engage conditions are met or the vehicle is stationary.

Future extensions / Unimplemented parts

  • Need to remove backward compatibility interfaces.
  • This node should be merged to the vehicle_cmd_gate due to its strong connection.
CHANGELOG

Changelog for package autoware_operation_mode_transition_manager

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(autoware_component_interface_specs_universe!): rename package (#9753)
  • Contributors: Fumiya Watanabe, Ryohsuke Mitsudome

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 - control (#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)
  • 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

  • refactor(component_interface_utils): prefix package and namespace with autoware (#9092)
  • Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

0.38.0 (2024-11-08)

  • unify package.xml version to 0.37.0
  • refactor(component_interface_specs): prefix package and namespace with autoware (#9094)
  • fix(autoware_operation_mode_transition_manager): fix funcArgNamesDifferent (#7997) fix: funcArgNamesDifferent_con-1
  • refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
  • refactor(motion_utils)!: add autoware prefix and include dir (#7539) refactor(motion_utils): add autoware prefix and include dir
  • feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
  • fix(operation mode manager): add nullptr check in onTimer (#7446)
  • refactor(operation_mode_transition_manager): prefix package and namespace with autoware_ (#7291)
    • RT1-6682 add prefix package and namespace with autoware_

    * RT1-6682 fix package's description ---------

  • Contributors: Esteve Fernandez, Kosuke Takeuchi, Mamoru Sobue, Takayuki Murooka, Yutaka Kondo, Zulfaqar Azmi, kobayu858

0.26.0 (2024-04-03)

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.

Launch files

  • launch/operation_mode_transition_manager.launch.xml
      • operation_mode_transition_manager_param [default: $(find-pkg-share autoware_operation_mode_transition_manager)/config/operation_mode_transition_manager.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]

Services

No service files found

Plugins

No plugins found.

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