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autoware_mrm_handler package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples 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_initialization_requester 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_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 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_bevformer 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_pipeline 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_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner 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_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface 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_calibration_status_classifier 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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin 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_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.53.0
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 2026-10-14
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The mrm_handler ROS 2 package

Maintainers

  • Makoto Kurihara
  • Tetsuhiro Kawaguchi
  • Junya Sasaki

Authors

No additional authors.
system/autoware_mrm_handler/README.md

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

0.53.0 (2026-09-29)

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

  • feat(mrm_handler): apply [agnocast_wrapper::Node]{.title-ref} to [mrm_handler]{.title-ref} (#12844)

    • apply agnocast_wrapper::Node
    • apply agnocast_wrapper::Node
    • style(pre-commit): autofix
    • use AgnocastOnlyCIE
    • fix

    * refactor(autoware_mrm_handler): keep upstream services QoS profile The agnocast_wrapper node now accepts an rmw_qos_profile_t, so AUTOWARE_DEFAULT_SERVICES_QOS_PROFILE() can be passed unchanged and the create_mrm_client() helper is no longer needed.

    * refactor(autoware_mrm_handler): initialize polling subscribers in the header Drop the create_polling_sub() helper and keep the members initialized inline as upstream does.

    • style(pre-commit): autofix
    • fix(mrm_handler): migrate to the current agnocast_wrapper polling API
    • fix(mrm_handler): pass rclcpp::QoS to the wrapper's create_client
    • style(pre-commit): autofix
    • docs(mrm_handler): add a comment explaining the LD_PRELOAD env

    * docs(mrm_handler): add a comment for the agnocast_env include ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: kobayu858 <<yutaro.kobayashi.2@tier4.jp>> Co-authored-by: Yutaro Kobayashi <<129580202+kobayu858@users.noreply.github.com>>

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

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

  • Contributors: Koichi Imai, Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • chore(mrm_handler): remove \@veqcc from maintainers (#12519)
  • Contributors: Ryuta Kambe, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat: system related packages support jazzy (#11626)
  • Contributors: Ryohsuke Mitsudome, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(autoware_mrm_handler): remove duplicate return (#11194) Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>
  • Contributors: Ryohsuke Mitsudome, Ryuta Kambe

0.47.1 (2025-08-14)

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)

File truncated at 100 lines see the full file

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_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples 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_initialization_requester 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_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 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_bevformer 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_pipeline 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_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner 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_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface 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_calibration_status_classifier 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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin 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_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
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 2026-10-14
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The mrm_handler ROS 2 package

Maintainers

  • Makoto Kurihara
  • Tetsuhiro Kawaguchi
  • Junya Sasaki

Authors

No additional authors.
system/autoware_mrm_handler/README.md

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

0.53.0 (2026-09-29)

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

  • feat(mrm_handler): apply [agnocast_wrapper::Node]{.title-ref} to [mrm_handler]{.title-ref} (#12844)

    • apply agnocast_wrapper::Node
    • apply agnocast_wrapper::Node
    • style(pre-commit): autofix
    • use AgnocastOnlyCIE
    • fix

    * refactor(autoware_mrm_handler): keep upstream services QoS profile The agnocast_wrapper node now accepts an rmw_qos_profile_t, so AUTOWARE_DEFAULT_SERVICES_QOS_PROFILE() can be passed unchanged and the create_mrm_client() helper is no longer needed.

    * refactor(autoware_mrm_handler): initialize polling subscribers in the header Drop the create_polling_sub() helper and keep the members initialized inline as upstream does.

    • style(pre-commit): autofix
    • fix(mrm_handler): migrate to the current agnocast_wrapper polling API
    • fix(mrm_handler): pass rclcpp::QoS to the wrapper's create_client
    • style(pre-commit): autofix
    • docs(mrm_handler): add a comment explaining the LD_PRELOAD env

    * docs(mrm_handler): add a comment for the agnocast_env include ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: kobayu858 <<yutaro.kobayashi.2@tier4.jp>> Co-authored-by: Yutaro Kobayashi <<129580202+kobayu858@users.noreply.github.com>>

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

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

  • Contributors: Koichi Imai, Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • chore(mrm_handler): remove \@veqcc from maintainers (#12519)
  • Contributors: Ryuta Kambe, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat: system related packages support jazzy (#11626)
  • Contributors: Ryohsuke Mitsudome, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(autoware_mrm_handler): remove duplicate return (#11194) Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>
  • Contributors: Ryohsuke Mitsudome, Ryuta Kambe

0.47.1 (2025-08-14)

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)

File truncated at 100 lines see the full file

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_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples 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_initialization_requester 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_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 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_bevformer 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_pipeline 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_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner 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_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface 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_calibration_status_classifier 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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin 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_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
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 2026-10-14
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The mrm_handler ROS 2 package

Maintainers

  • Makoto Kurihara
  • Tetsuhiro Kawaguchi
  • Junya Sasaki

Authors

No additional authors.
system/autoware_mrm_handler/README.md

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

0.53.0 (2026-09-29)

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

  • feat(mrm_handler): apply [agnocast_wrapper::Node]{.title-ref} to [mrm_handler]{.title-ref} (#12844)

    • apply agnocast_wrapper::Node
    • apply agnocast_wrapper::Node
    • style(pre-commit): autofix
    • use AgnocastOnlyCIE
    • fix

    * refactor(autoware_mrm_handler): keep upstream services QoS profile The agnocast_wrapper node now accepts an rmw_qos_profile_t, so AUTOWARE_DEFAULT_SERVICES_QOS_PROFILE() can be passed unchanged and the create_mrm_client() helper is no longer needed.

    * refactor(autoware_mrm_handler): initialize polling subscribers in the header Drop the create_polling_sub() helper and keep the members initialized inline as upstream does.

    • style(pre-commit): autofix
    • fix(mrm_handler): migrate to the current agnocast_wrapper polling API
    • fix(mrm_handler): pass rclcpp::QoS to the wrapper's create_client
    • style(pre-commit): autofix
    • docs(mrm_handler): add a comment explaining the LD_PRELOAD env

    * docs(mrm_handler): add a comment for the agnocast_env include ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: kobayu858 <<yutaro.kobayashi.2@tier4.jp>> Co-authored-by: Yutaro Kobayashi <<129580202+kobayu858@users.noreply.github.com>>

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

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

  • Contributors: Koichi Imai, Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • chore(mrm_handler): remove \@veqcc from maintainers (#12519)
  • Contributors: Ryuta Kambe, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat: system related packages support jazzy (#11626)
  • Contributors: Ryohsuke Mitsudome, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(autoware_mrm_handler): remove duplicate return (#11194) Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>
  • Contributors: Ryohsuke Mitsudome, Ryuta Kambe

0.47.1 (2025-08-14)

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)

File truncated at 100 lines see the full file

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]

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autoware_mrm_handler package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples 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_initialization_requester 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_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 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_bevformer 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_pipeline 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_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner 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_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface 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_calibration_status_classifier 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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin 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_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.53.0
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 2026-10-14
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The mrm_handler ROS 2 package

Maintainers

  • Makoto Kurihara
  • Tetsuhiro Kawaguchi
  • Junya Sasaki

Authors

No additional authors.
system/autoware_mrm_handler/README.md

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

0.53.0 (2026-09-29)

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

  • feat(mrm_handler): apply [agnocast_wrapper::Node]{.title-ref} to [mrm_handler]{.title-ref} (#12844)

    • apply agnocast_wrapper::Node
    • apply agnocast_wrapper::Node
    • style(pre-commit): autofix
    • use AgnocastOnlyCIE
    • fix

    * refactor(autoware_mrm_handler): keep upstream services QoS profile The agnocast_wrapper node now accepts an rmw_qos_profile_t, so AUTOWARE_DEFAULT_SERVICES_QOS_PROFILE() can be passed unchanged and the create_mrm_client() helper is no longer needed.

    * refactor(autoware_mrm_handler): initialize polling subscribers in the header Drop the create_polling_sub() helper and keep the members initialized inline as upstream does.

    • style(pre-commit): autofix
    • fix(mrm_handler): migrate to the current agnocast_wrapper polling API
    • fix(mrm_handler): pass rclcpp::QoS to the wrapper's create_client
    • style(pre-commit): autofix
    • docs(mrm_handler): add a comment explaining the LD_PRELOAD env

    * docs(mrm_handler): add a comment for the agnocast_env include ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: kobayu858 <<yutaro.kobayashi.2@tier4.jp>> Co-authored-by: Yutaro Kobayashi <<129580202+kobayu858@users.noreply.github.com>>

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

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

  • Contributors: Koichi Imai, Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • chore(mrm_handler): remove \@veqcc from maintainers (#12519)
  • Contributors: Ryuta Kambe, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat: system related packages support jazzy (#11626)
  • Contributors: Ryohsuke Mitsudome, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(autoware_mrm_handler): remove duplicate return (#11194) Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>
  • Contributors: Ryohsuke Mitsudome, Ryuta Kambe

0.47.1 (2025-08-14)

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)

File truncated at 100 lines see the full file

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

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Services

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Plugins

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autoware_mrm_handler package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples 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_initialization_requester 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_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 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_bevformer 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_pipeline 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_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner 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_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface 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_calibration_status_classifier 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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin 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_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
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 2026-10-14
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The mrm_handler ROS 2 package

Maintainers

  • Makoto Kurihara
  • Tetsuhiro Kawaguchi
  • Junya Sasaki

Authors

No additional authors.
system/autoware_mrm_handler/README.md

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

0.53.0 (2026-09-29)

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

  • feat(mrm_handler): apply [agnocast_wrapper::Node]{.title-ref} to [mrm_handler]{.title-ref} (#12844)

    • apply agnocast_wrapper::Node
    • apply agnocast_wrapper::Node
    • style(pre-commit): autofix
    • use AgnocastOnlyCIE
    • fix

    * refactor(autoware_mrm_handler): keep upstream services QoS profile The agnocast_wrapper node now accepts an rmw_qos_profile_t, so AUTOWARE_DEFAULT_SERVICES_QOS_PROFILE() can be passed unchanged and the create_mrm_client() helper is no longer needed.

    * refactor(autoware_mrm_handler): initialize polling subscribers in the header Drop the create_polling_sub() helper and keep the members initialized inline as upstream does.

    • style(pre-commit): autofix
    • fix(mrm_handler): migrate to the current agnocast_wrapper polling API
    • fix(mrm_handler): pass rclcpp::QoS to the wrapper's create_client
    • style(pre-commit): autofix
    • docs(mrm_handler): add a comment explaining the LD_PRELOAD env

    * docs(mrm_handler): add a comment for the agnocast_env include ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: kobayu858 <<yutaro.kobayashi.2@tier4.jp>> Co-authored-by: Yutaro Kobayashi <<129580202+kobayu858@users.noreply.github.com>>

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

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

  • Contributors: Koichi Imai, Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • chore(mrm_handler): remove \@veqcc from maintainers (#12519)
  • Contributors: Ryuta Kambe, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat: system related packages support jazzy (#11626)
  • Contributors: Ryohsuke Mitsudome, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(autoware_mrm_handler): remove duplicate return (#11194) Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>
  • Contributors: Ryohsuke Mitsudome, Ryuta Kambe

0.47.1 (2025-08-14)

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)

File truncated at 100 lines see the full file

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

Package symbol

autoware_mrm_handler package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples 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_initialization_requester 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_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 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_bevformer 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_pipeline 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_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner 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_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface 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_calibration_status_classifier 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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin 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_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
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 2026-10-14
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The mrm_handler ROS 2 package

Maintainers

  • Makoto Kurihara
  • Tetsuhiro Kawaguchi
  • Junya Sasaki

Authors

No additional authors.
system/autoware_mrm_handler/README.md

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

0.53.0 (2026-09-29)

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

  • feat(mrm_handler): apply [agnocast_wrapper::Node]{.title-ref} to [mrm_handler]{.title-ref} (#12844)

    • apply agnocast_wrapper::Node
    • apply agnocast_wrapper::Node
    • style(pre-commit): autofix
    • use AgnocastOnlyCIE
    • fix

    * refactor(autoware_mrm_handler): keep upstream services QoS profile The agnocast_wrapper node now accepts an rmw_qos_profile_t, so AUTOWARE_DEFAULT_SERVICES_QOS_PROFILE() can be passed unchanged and the create_mrm_client() helper is no longer needed.

    * refactor(autoware_mrm_handler): initialize polling subscribers in the header Drop the create_polling_sub() helper and keep the members initialized inline as upstream does.

    • style(pre-commit): autofix
    • fix(mrm_handler): migrate to the current agnocast_wrapper polling API
    • fix(mrm_handler): pass rclcpp::QoS to the wrapper's create_client
    • style(pre-commit): autofix
    • docs(mrm_handler): add a comment explaining the LD_PRELOAD env

    * docs(mrm_handler): add a comment for the agnocast_env include ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: kobayu858 <<yutaro.kobayashi.2@tier4.jp>> Co-authored-by: Yutaro Kobayashi <<129580202+kobayu858@users.noreply.github.com>>

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

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

  • Contributors: Koichi Imai, Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • chore(mrm_handler): remove \@veqcc from maintainers (#12519)
  • Contributors: Ryuta Kambe, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat: system related packages support jazzy (#11626)
  • Contributors: Ryohsuke Mitsudome, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(autoware_mrm_handler): remove duplicate return (#11194) Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>
  • Contributors: Ryohsuke Mitsudome, Ryuta Kambe

0.47.1 (2025-08-14)

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)

File truncated at 100 lines see the full file

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_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples 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_initialization_requester 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_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 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_bevformer 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_pipeline 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_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner 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_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface 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_calibration_status_classifier 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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin 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_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.53.0
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 2026-10-14
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The mrm_handler ROS 2 package

Maintainers

  • Makoto Kurihara
  • Tetsuhiro Kawaguchi
  • Junya Sasaki

Authors

No additional authors.
system/autoware_mrm_handler/README.md

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

0.53.0 (2026-09-29)

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

  • feat(mrm_handler): apply [agnocast_wrapper::Node]{.title-ref} to [mrm_handler]{.title-ref} (#12844)

    • apply agnocast_wrapper::Node
    • apply agnocast_wrapper::Node
    • style(pre-commit): autofix
    • use AgnocastOnlyCIE
    • fix

    * refactor(autoware_mrm_handler): keep upstream services QoS profile The agnocast_wrapper node now accepts an rmw_qos_profile_t, so AUTOWARE_DEFAULT_SERVICES_QOS_PROFILE() can be passed unchanged and the create_mrm_client() helper is no longer needed.

    * refactor(autoware_mrm_handler): initialize polling subscribers in the header Drop the create_polling_sub() helper and keep the members initialized inline as upstream does.

    • style(pre-commit): autofix
    • fix(mrm_handler): migrate to the current agnocast_wrapper polling API
    • fix(mrm_handler): pass rclcpp::QoS to the wrapper's create_client
    • style(pre-commit): autofix
    • docs(mrm_handler): add a comment explaining the LD_PRELOAD env

    * docs(mrm_handler): add a comment for the agnocast_env include ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: kobayu858 <<yutaro.kobayashi.2@tier4.jp>> Co-authored-by: Yutaro Kobayashi <<129580202+kobayu858@users.noreply.github.com>>

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

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

  • Contributors: Koichi Imai, Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • chore(mrm_handler): remove \@veqcc from maintainers (#12519)
  • Contributors: Ryuta Kambe, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat: system related packages support jazzy (#11626)
  • Contributors: Ryohsuke Mitsudome, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(autoware_mrm_handler): remove duplicate return (#11194) Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>
  • Contributors: Ryohsuke Mitsudome, Ryuta Kambe

0.47.1 (2025-08-14)

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)

File truncated at 100 lines see the full file

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

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Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_mrm_handler at Robotics Stack Exchange

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Package symbol

autoware_mrm_handler package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples 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_initialization_requester 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_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 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_bevformer 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_pipeline 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_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner 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_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface 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_calibration_status_classifier 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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin 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_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
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 2026-10-14
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The mrm_handler ROS 2 package

Maintainers

  • Makoto Kurihara
  • Tetsuhiro Kawaguchi
  • Junya Sasaki

Authors

No additional authors.
system/autoware_mrm_handler/README.md

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

0.53.0 (2026-09-29)

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

  • feat(mrm_handler): apply [agnocast_wrapper::Node]{.title-ref} to [mrm_handler]{.title-ref} (#12844)

    • apply agnocast_wrapper::Node
    • apply agnocast_wrapper::Node
    • style(pre-commit): autofix
    • use AgnocastOnlyCIE
    • fix

    * refactor(autoware_mrm_handler): keep upstream services QoS profile The agnocast_wrapper node now accepts an rmw_qos_profile_t, so AUTOWARE_DEFAULT_SERVICES_QOS_PROFILE() can be passed unchanged and the create_mrm_client() helper is no longer needed.

    * refactor(autoware_mrm_handler): initialize polling subscribers in the header Drop the create_polling_sub() helper and keep the members initialized inline as upstream does.

    • style(pre-commit): autofix
    • fix(mrm_handler): migrate to the current agnocast_wrapper polling API
    • fix(mrm_handler): pass rclcpp::QoS to the wrapper's create_client
    • style(pre-commit): autofix
    • docs(mrm_handler): add a comment explaining the LD_PRELOAD env

    * docs(mrm_handler): add a comment for the agnocast_env include ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: kobayu858 <<yutaro.kobayashi.2@tier4.jp>> Co-authored-by: Yutaro Kobayashi <<129580202+kobayu858@users.noreply.github.com>>

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

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

  • Contributors: Koichi Imai, Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • chore(mrm_handler): remove \@veqcc from maintainers (#12519)
  • Contributors: Ryuta Kambe, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat: system related packages support jazzy (#11626)
  • Contributors: Ryohsuke Mitsudome, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(autoware_mrm_handler): remove duplicate return (#11194) Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>
  • Contributors: Ryohsuke Mitsudome, Ryuta Kambe

0.47.1 (2025-08-14)

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)

File truncated at 100 lines see the full file

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_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples 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_initialization_requester 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_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 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_bevformer 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_pipeline 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_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner 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_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface 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_calibration_status_classifier 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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin 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_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version 0.53.0
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 2026-10-14
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The mrm_handler ROS 2 package

Maintainers

  • Makoto Kurihara
  • Tetsuhiro Kawaguchi
  • Junya Sasaki

Authors

No additional authors.
system/autoware_mrm_handler/README.md

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

0.53.0 (2026-09-29)

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

  • feat(mrm_handler): apply [agnocast_wrapper::Node]{.title-ref} to [mrm_handler]{.title-ref} (#12844)

    • apply agnocast_wrapper::Node
    • apply agnocast_wrapper::Node
    • style(pre-commit): autofix
    • use AgnocastOnlyCIE
    • fix

    * refactor(autoware_mrm_handler): keep upstream services QoS profile The agnocast_wrapper node now accepts an rmw_qos_profile_t, so AUTOWARE_DEFAULT_SERVICES_QOS_PROFILE() can be passed unchanged and the create_mrm_client() helper is no longer needed.

    * refactor(autoware_mrm_handler): initialize polling subscribers in the header Drop the create_polling_sub() helper and keep the members initialized inline as upstream does.

    • style(pre-commit): autofix
    • fix(mrm_handler): migrate to the current agnocast_wrapper polling API
    • fix(mrm_handler): pass rclcpp::QoS to the wrapper's create_client
    • style(pre-commit): autofix
    • docs(mrm_handler): add a comment explaining the LD_PRELOAD env

    * docs(mrm_handler): add a comment for the agnocast_env include ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: kobayu858 <<yutaro.kobayashi.2@tier4.jp>> Co-authored-by: Yutaro Kobayashi <<129580202+kobayu858@users.noreply.github.com>>

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

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

  • Contributors: Koichi Imai, Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • chore(mrm_handler): remove \@veqcc from maintainers (#12519)
  • Contributors: Ryuta Kambe, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat: system related packages support jazzy (#11626)
  • Contributors: Ryohsuke Mitsudome, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(autoware_mrm_handler): remove duplicate return (#11194) Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>
  • Contributors: Ryohsuke Mitsudome, Ryuta Kambe

0.47.1 (2025-08-14)

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)

File truncated at 100 lines see the full file

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

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autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples 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_initialization_requester 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 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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_roundabout_module autoware_behavior_velocity_rtc_interface 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_calibration_status_classifier 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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection 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Package Summary

Version 0.53.0
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 2026-10-14
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The mrm_handler ROS 2 package

Maintainers

  • Makoto Kurihara
  • Tetsuhiro Kawaguchi
  • Junya Sasaki

Authors

No additional authors.
system/autoware_mrm_handler/README.md

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

0.53.0 (2026-09-29)

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

  • feat(mrm_handler): apply [agnocast_wrapper::Node]{.title-ref} to [mrm_handler]{.title-ref} (#12844)

    • apply agnocast_wrapper::Node
    • apply agnocast_wrapper::Node
    • style(pre-commit): autofix
    • use AgnocastOnlyCIE
    • fix

    * refactor(autoware_mrm_handler): keep upstream services QoS profile The agnocast_wrapper node now accepts an rmw_qos_profile_t, so AUTOWARE_DEFAULT_SERVICES_QOS_PROFILE() can be passed unchanged and the create_mrm_client() helper is no longer needed.

    * refactor(autoware_mrm_handler): initialize polling subscribers in the header Drop the create_polling_sub() helper and keep the members initialized inline as upstream does.

    • style(pre-commit): autofix
    • fix(mrm_handler): migrate to the current agnocast_wrapper polling API
    • fix(mrm_handler): pass rclcpp::QoS to the wrapper's create_client
    • style(pre-commit): autofix
    • docs(mrm_handler): add a comment explaining the LD_PRELOAD env

    * docs(mrm_handler): add a comment for the agnocast_env include ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: kobayu858 <<yutaro.kobayashi.2@tier4.jp>> Co-authored-by: Yutaro Kobayashi <<129580202+kobayu858@users.noreply.github.com>>

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

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

  • Contributors: Koichi Imai, Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • chore(mrm_handler): remove \@veqcc from maintainers (#12519)
  • Contributors: Ryuta Kambe, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat: system related packages support jazzy (#11626)
  • Contributors: Ryohsuke Mitsudome, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(autoware_mrm_handler): remove duplicate return (#11194) Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>
  • Contributors: Ryohsuke Mitsudome, Ryuta Kambe

0.47.1 (2025-08-14)

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)

File truncated at 100 lines see the full file

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