mrm_comfortable_stop_operator

Purpose

MRM comfortable stop operator is a node that generates comfortable stop commands according to the comfortable stop MRM order.

Inner-workings / Algorithms

Inputs / Outputs

Input

Output

Parameters

{{ json_to_markdown(“system/mrm_comfortable_stop_operator/schema/mrm_comfortable_stop_operator.schema.json”) }}

Assumptions / Known limits

TBD.

Changelog for package autoware_mrm_comfortable_stop_operator

0.53.0 (2026-09-29)

• Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

• feat(mrm_operator): add driving mode active flag (#13249)

  • feat(mrm_operator): add driving mode active flag

  * remove unnecessary conditions ---------Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>

• fix(system): declare the dependencies these packages use (#13217)

• refactor(system): move node design files into each package (#13103) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

• fix: move mrm operator schema (#13084)

• feat(mrm_comfortable_stop_operator): apply [agnocast_wrapper::Node]{.title-ref} to [mrm_comfortable_stop_operator]{.title-ref} (#12909)

  * feat(mrm_comfortable_stop_operator): apply [agnocast_wrapper::Node]{.title-ref} to [mrm_comfortable_stop_operator]{.title-ref} Apply [autoware::agnocast_wrapper::Node]{.title-ref} (Method 2) to [autoware_mrm_comfortable_stop_operator]{.title-ref} so it can run on the [AgnocastOnlyCallbackIsolatedExecutor]{.title-ref} (CIE) when built and run with [ENABLE_AGNOCAST=1]{.title-ref}, while staying byte-for-byte behavior-compatible when [ENABLE_AGNOCAST]{.title-ref} is unset/0 (the wrapper falls back to [rclcpp::Node]{.title-ref} + [SingleThreadedExecutor]{.title-ref}). The launch file runs the node as its standalone executable (not a composable node in a container): an AgnocastOnly node's agnocast runtime is set up only by the generated node_main, so a container-loaded composable node would SIGSEGV on construction. LD_PRELOAD (agnocast heaphook) is wired per-node via agnocast_env.launch.py, required by the AgnocastOnly executor. Claude-Session: https://claude.ai/code/session_01SXw9xgZwpwCE2KdXTraco2

  • docs: remove agnocast launch comments from mrm_comfortable_stop_operator

  * refactor: use plain const reference subscription callbacks autoware_agnocast_wrapper now accepts rclcpp-style const MessageT & callbacks (autowarefoundation/autoware_core#1228), so the subscription callbacks no longer need wrapper-specific message pointer types. ---------Co-authored-by: atsushi421 <<yff81986@nifty.com>>

• Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE, Takagi, Isamu, atsushi yano

0.52.0 (2026-06-30)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• feat(comfortable_stop_operator): add driving mode interface (#12838)

  • add interface
  • remove old file

  * fix variable naming ---------

• Contributors: Takagi, Isamu, github-actions

0.51.0 (2026-05-01)

0.50.0 (2026-02-14)

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

• Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base

• refactor(mrm_comfortable_stop_operator): rework parameter (#8936)

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