mrm_handler

Package Summary

Tags	No category tags.
Version	0.47.0
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	2025-08-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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

mrm-state

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/turn_indicators_cmd`	`autoware_vehicle_msgs::msg::TurnIndicatorsCommand`	Required to execute proper MRM (send turn signal cmd)
`/system/emergency/hazard_lights_cmd`	`autoware_vehicle_msgs::msg::HazardLightsCommand`	Required to execute proper MRM (send hazard 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

0.47.0 (2025-08-11)

feat: use mrm in all operation mode state (#10259)
- feat: use mrm in all operation mode
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Tetsuhiro Kawaguchi

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

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)

File truncated at 100 lines see the full file

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_turn_indicators [default: /system/emergency/turn_indicators_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

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

autoware_mrm_handler package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker 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_command_gate 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_stop_mode_operator 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 autoware_diagnostic_graph_test_examples 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_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion 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_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins 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_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother 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_bidirectional_traffic_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_boundary_departure_prevention_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_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker 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_objects_adapter 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_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe 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_pipeline_latency_monitor autoware_processing_time_checker 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_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.47.0
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	2025-08-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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

mrm-state

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/turn_indicators_cmd`	`autoware_vehicle_msgs::msg::TurnIndicatorsCommand`	Required to execute proper MRM (send turn signal cmd)
`/system/emergency/hazard_lights_cmd`	`autoware_vehicle_msgs::msg::HazardLightsCommand`	Required to execute proper MRM (send hazard 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

0.47.0 (2025-08-11)

feat: use mrm in all operation mode state (#10259)
- feat: use mrm in all operation mode
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Tetsuhiro Kawaguchi

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

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)

File truncated at 100 lines see the full file

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_turn_indicators [default: /system/emergency/turn_indicators_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

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

autoware_mrm_handler package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker 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_command_gate 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_stop_mode_operator 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 autoware_diagnostic_graph_test_examples 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_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion 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_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins 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_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother 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_bidirectional_traffic_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_boundary_departure_prevention_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_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker 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_objects_adapter 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_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe 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_pipeline_latency_monitor autoware_processing_time_checker 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_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.47.0
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	2025-08-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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

mrm-state

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/turn_indicators_cmd`	`autoware_vehicle_msgs::msg::TurnIndicatorsCommand`	Required to execute proper MRM (send turn signal cmd)
`/system/emergency/hazard_lights_cmd`	`autoware_vehicle_msgs::msg::HazardLightsCommand`	Required to execute proper MRM (send hazard 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

0.47.0 (2025-08-11)

feat: use mrm in all operation mode state (#10259)
- feat: use mrm in all operation mode
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Tetsuhiro Kawaguchi

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

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)

File truncated at 100 lines see the full file

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_turn_indicators [default: /system/emergency/turn_indicators_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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autoware_mrm_handler package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker 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_command_gate 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_stop_mode_operator 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 autoware_diagnostic_graph_test_examples 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_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion 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_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins 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_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother 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_bidirectional_traffic_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_boundary_departure_prevention_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_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker 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_objects_adapter 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_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe 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_pipeline_latency_monitor autoware_processing_time_checker 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_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.47.0
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	2025-08-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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

mrm-state

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/turn_indicators_cmd`	`autoware_vehicle_msgs::msg::TurnIndicatorsCommand`	Required to execute proper MRM (send turn signal cmd)
`/system/emergency/hazard_lights_cmd`	`autoware_vehicle_msgs::msg::HazardLightsCommand`	Required to execute proper MRM (send hazard 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

0.47.0 (2025-08-11)

feat: use mrm in all operation mode state (#10259)
- feat: use mrm in all operation mode
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Tetsuhiro Kawaguchi

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

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)

File truncated at 100 lines see the full file

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_turn_indicators [default: /system/emergency/turn_indicators_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

autoware_mrm_handler package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker 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_command_gate 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_stop_mode_operator 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 autoware_diagnostic_graph_test_examples 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_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion 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_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins 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_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother 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_bidirectional_traffic_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_boundary_departure_prevention_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_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker 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_objects_adapter 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_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe 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_pipeline_latency_monitor autoware_processing_time_checker 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_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.47.0
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	2025-08-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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

mrm-state

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/turn_indicators_cmd`	`autoware_vehicle_msgs::msg::TurnIndicatorsCommand`	Required to execute proper MRM (send turn signal cmd)
`/system/emergency/hazard_lights_cmd`	`autoware_vehicle_msgs::msg::HazardLightsCommand`	Required to execute proper MRM (send hazard 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

0.47.0 (2025-08-11)

feat: use mrm in all operation mode state (#10259)
- feat: use mrm in all operation mode
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Tetsuhiro Kawaguchi

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

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)

File truncated at 100 lines see the full file

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_turn_indicators [default: /system/emergency/turn_indicators_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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autoware_mrm_handler package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker 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_command_gate 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_stop_mode_operator 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 autoware_diagnostic_graph_test_examples 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_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion 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_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins 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_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother 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_bidirectional_traffic_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_boundary_departure_prevention_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_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker 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_objects_adapter 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_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe 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_pipeline_latency_monitor autoware_processing_time_checker 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_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.47.0
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	2025-08-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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

mrm-state

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/turn_indicators_cmd`	`autoware_vehicle_msgs::msg::TurnIndicatorsCommand`	Required to execute proper MRM (send turn signal cmd)
`/system/emergency/hazard_lights_cmd`	`autoware_vehicle_msgs::msg::HazardLightsCommand`	Required to execute proper MRM (send hazard 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

0.47.0 (2025-08-11)

feat: use mrm in all operation mode state (#10259)
- feat: use mrm in all operation mode
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Tetsuhiro Kawaguchi

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

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)

File truncated at 100 lines see the full file

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_turn_indicators [default: /system/emergency/turn_indicators_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.

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autoware_mrm_handler package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker 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_command_gate 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_stop_mode_operator 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 autoware_diagnostic_graph_test_examples 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_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion 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_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins 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_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother 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_bidirectional_traffic_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_boundary_departure_prevention_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_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker 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_objects_adapter 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_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe 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_pipeline_latency_monitor autoware_processing_time_checker 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_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.47.0
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	2025-08-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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

mrm-state

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/turn_indicators_cmd`	`autoware_vehicle_msgs::msg::TurnIndicatorsCommand`	Required to execute proper MRM (send turn signal cmd)
`/system/emergency/hazard_lights_cmd`	`autoware_vehicle_msgs::msg::HazardLightsCommand`	Required to execute proper MRM (send hazard 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

0.47.0 (2025-08-11)

feat: use mrm in all operation mode state (#10259)
- feat: use mrm in all operation mode
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Tetsuhiro Kawaguchi

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

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)

File truncated at 100 lines see the full file

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_turn_indicators [default: /system/emergency/turn_indicators_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

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

autoware_mrm_handler package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker 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_command_gate 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_stop_mode_operator 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 autoware_diagnostic_graph_test_examples 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_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion 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_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins 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_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother 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_bidirectional_traffic_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_boundary_departure_prevention_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_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker 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_objects_adapter 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_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe 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_pipeline_latency_monitor autoware_processing_time_checker 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_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.47.0
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	2025-08-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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

mrm-state

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/turn_indicators_cmd`	`autoware_vehicle_msgs::msg::TurnIndicatorsCommand`	Required to execute proper MRM (send turn signal cmd)
`/system/emergency/hazard_lights_cmd`	`autoware_vehicle_msgs::msg::HazardLightsCommand`	Required to execute proper MRM (send hazard 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

0.47.0 (2025-08-11)

feat: use mrm in all operation mode state (#10259)
- feat: use mrm in all operation mode
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Tetsuhiro Kawaguchi

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

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)

File truncated at 100 lines see the full file

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_turn_indicators [default: /system/emergency/turn_indicators_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

API Docs Browse Code Wiki

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.

autoware_mrm_handler package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker 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_command_gate 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_stop_mode_operator 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 autoware_diagnostic_graph_test_examples 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_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion 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_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins 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_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother 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_bidirectional_traffic_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_boundary_departure_prevention_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_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker 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_objects_adapter 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_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe 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_pipeline_latency_monitor autoware_processing_time_checker 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_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Tags	No category tags.
Version	0.47.0
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	2025-08-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.