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autoware_mrm_reset_manager package from autoware_universe repo

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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 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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 2026-10-08
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Manages MRM reset orchestration by coordinating AD API states and forwarding reset requests to system services.

Maintainers

  • Tetsuhiro Kawaguchi
  • Makoto Kurihara

Authors

No additional authors.
system/autoware_mrm_reset_manager/README.md

autoware_mrm_reset_manager

Purpose

autoware_mrm_reset_manager manages MRM reset orchestration by:

  • forwarding reset_mrm requests to system reset services, and
  • coordinating initialization/reset timing from AD API states.

This package is focused on a single ECU path (no main/sub split logic).

Inner-workings / Algorithms

1. reset_mrm forwarding

When ~/input/reset_mrm is called, the node:

  1. Calls ~/output/reset_diag_graph
  2. Calls ~/output/reset_redundancy_switcher (only when is_redundant=true)
  3. Returns success when all enabled calls succeed

2. Initialization state machine

At startup, a 1-second timer advances the following state machine:

State Action
WAIT_SERVICES_READY Wait until all required output services are available (redundancy-switcher services are required only when is_redundant=true)
SET_AGGREGATOR_INIT Call set_aggregator_initializing(true)
RESET_SWITCHER Call reset_redundancy_switcher() (skipped, treated as success, when is_redundant=false)
SET_SWITCHER_INTERFACE_INIT Call set_redundancy_switcher_interface_initializing(true) (skipped, treated as success, when is_redundant=false)
DONE Stop init timer and start periodic 5-second check

3. Ready-state transition

The node subscribes to:

  • localization initialization state,
  • route state,
  • operation mode state.

When all of the following are true:

  • localization is initialized,
  • route is set,
  • Autoware control is enabled,

it performs the following actions only when enable_autoware_ready_actions=true:

  1. set_aggregator_initializing(false)
  2. reset_redundancy_switcher() (skipped, treated as success, when is_redundant=false)
  3. set_redundancy_switcher_interface_initializing(false) (skipped, treated as success, when is_redundant=false)

If the system is still initializing and not yet ready, a 5-second periodic timer retries reset_redundancy_switcher().

Inputs / Outputs

Input Service

Topic Type Description
~/input/reset_mrm tier4_external_api_msgs::srv::ResetMrm External MRM reset request

Input Subscriptions

Topic Type Description
~/input/localization_initialization_state autoware_adapi_v1_msgs::msg::LocalizationInitializationState Localization readiness
~/input/route_state autoware_adapi_v1_msgs::msg::RouteState Route readiness
~/input/operation_mode_state autoware_adapi_v1_msgs::msg::OperationModeState Autoware control state

Output Service Clients

Topic Type Description
~/output/reset_diag_graph tier4_system_msgs::srv::ResetDiagGraph Resets diagnostics graph
~/output/reset_redundancy_switcher tier4_system_msgs::srv::ResetRedundancySwitcher Resets redundancy switcher
~/output/set_aggregator_initializing std_srvs::srv::SetBool Sets aggregator initializing flag
~/output/set_redundancy_switcher_interface_initializing std_srvs::srv::SetBool Sets switcher-interface initializing flag

Parameters

Name Type Default Description
service_timeout_ms int 200 Timeout for each service call
is_redundant bool true Enables redundancy-switcher orchestration (reset_redundancy_switcher and set_redundancy_switcher_interface_initializing calls, and waiting for their services at startup). When false, these calls are skipped and treated as success.
enable_autoware_ready_actions bool true Enables service calls triggered by Autoware-ready conditions (localization initialized, route set, Autoware control enabled).

Launch

Launch file:

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_mrm_reset_manager

0.53.0 (2026-09-29)

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

  • feat: add mrm reset manager (#12746)

    • feat(autoware_mrm_reset_manager): add MRM reset manager node
    • fix: codescene
    • fix: codescene
    • fix: service compatibility

    * fix(autoware_mrm_reset_manager): guard switcher interface init when non-redundant set_redundancy_switcher_interface_initializing() was called unconditionally during init and on the ready-state transition, even though its service is only expected to exist when is_redundant is true (are_required_services_ready already skips waiting for it otherwise). On a non-redundant configuration the call would time out every tick, so the init state machine never reached DONE and the aggregator initializing flag (diag graph latch) was never cleared. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * fix(autoware_mrm_reset_manager): keep periodic reset until actually ready on_periodic_reset_check() gated the periodic reset_redundancy_switcher retry on is_autoware_ready(), which only checks whether the localization/route/operation_mode topics have been received at least once, not their actual values. Once all three arrived (even while still uninitialized/unset/not-in-autonomous-control), the periodic reset stopped firing and never resumed, even though the system was not actually ready to leave the initializing phase. Gate on is_ready_for_operation() as well, so the reset keeps being requested every tick until localization is initialized, the route is set, and autonomous control is enabled. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * docs(autoware_mrm_reset_manager): note is_redundant skips switcher-interface calls too The is_redundant parameter description and the init/ready-state sections only mentioned reset_redundancy_switcher being skipped when is_redundant=false, not set_redundancy_switcher_interface_initializing. Now that the latter is guarded the same way, document both. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * style(pre-commit): autofix ---------Co-authored-by: Claude Sonnet 5 <<noreply@anthropic.com>> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • Contributors: Ryohsuke Mitsudome, Tetsuhiro Kawaguchi

Launch files

  • launch/mrm_reset_manager.launch.xml
      • is_redundant [default: true]
      • enable_autoware_ready_actions [default: true]
      • mrm_reset_manager_param_file [default: $(find-pkg-share autoware_mrm_reset_manager)/config/mrm_reset_manager.param.yaml]
      • input_reset_mrm [default: /system/mrm/reset]
      • input_localization_initialization_state [default: /api/localization/initialization_state]
      • input_route_state [default: /api/routing/state]
      • input_operation_mode_state [default: /api/operation_mode/state]
      • output_reset_diag_graph [default: /diagnostics_graph/reset]
      • output_reset_redundancy_switcher [default: /system/redundancy_switcher/reset]
      • output_set_aggregator_initializing [default: /system/aggregator/set_initializing]
      • output_set_redundancy_switcher_interface_initializing [default: /system/redundancy_switcher_interface/set_initializing]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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autoware_mrm_reset_manager 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 2026-10-08
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Manages MRM reset orchestration by coordinating AD API states and forwarding reset requests to system services.

Maintainers

  • Tetsuhiro Kawaguchi
  • Makoto Kurihara

Authors

No additional authors.
system/autoware_mrm_reset_manager/README.md

autoware_mrm_reset_manager

Purpose

autoware_mrm_reset_manager manages MRM reset orchestration by:

  • forwarding reset_mrm requests to system reset services, and
  • coordinating initialization/reset timing from AD API states.

This package is focused on a single ECU path (no main/sub split logic).

Inner-workings / Algorithms

1. reset_mrm forwarding

When ~/input/reset_mrm is called, the node:

  1. Calls ~/output/reset_diag_graph
  2. Calls ~/output/reset_redundancy_switcher (only when is_redundant=true)
  3. Returns success when all enabled calls succeed

2. Initialization state machine

At startup, a 1-second timer advances the following state machine:

State Action
WAIT_SERVICES_READY Wait until all required output services are available (redundancy-switcher services are required only when is_redundant=true)
SET_AGGREGATOR_INIT Call set_aggregator_initializing(true)
RESET_SWITCHER Call reset_redundancy_switcher() (skipped, treated as success, when is_redundant=false)
SET_SWITCHER_INTERFACE_INIT Call set_redundancy_switcher_interface_initializing(true) (skipped, treated as success, when is_redundant=false)
DONE Stop init timer and start periodic 5-second check

3. Ready-state transition

The node subscribes to:

  • localization initialization state,
  • route state,
  • operation mode state.

When all of the following are true:

  • localization is initialized,
  • route is set,
  • Autoware control is enabled,

it performs the following actions only when enable_autoware_ready_actions=true:

  1. set_aggregator_initializing(false)
  2. reset_redundancy_switcher() (skipped, treated as success, when is_redundant=false)
  3. set_redundancy_switcher_interface_initializing(false) (skipped, treated as success, when is_redundant=false)

If the system is still initializing and not yet ready, a 5-second periodic timer retries reset_redundancy_switcher().

Inputs / Outputs

Input Service

Topic Type Description
~/input/reset_mrm tier4_external_api_msgs::srv::ResetMrm External MRM reset request

Input Subscriptions

Topic Type Description
~/input/localization_initialization_state autoware_adapi_v1_msgs::msg::LocalizationInitializationState Localization readiness
~/input/route_state autoware_adapi_v1_msgs::msg::RouteState Route readiness
~/input/operation_mode_state autoware_adapi_v1_msgs::msg::OperationModeState Autoware control state

Output Service Clients

Topic Type Description
~/output/reset_diag_graph tier4_system_msgs::srv::ResetDiagGraph Resets diagnostics graph
~/output/reset_redundancy_switcher tier4_system_msgs::srv::ResetRedundancySwitcher Resets redundancy switcher
~/output/set_aggregator_initializing std_srvs::srv::SetBool Sets aggregator initializing flag
~/output/set_redundancy_switcher_interface_initializing std_srvs::srv::SetBool Sets switcher-interface initializing flag

Parameters

Name Type Default Description
service_timeout_ms int 200 Timeout for each service call
is_redundant bool true Enables redundancy-switcher orchestration (reset_redundancy_switcher and set_redundancy_switcher_interface_initializing calls, and waiting for their services at startup). When false, these calls are skipped and treated as success.
enable_autoware_ready_actions bool true Enables service calls triggered by Autoware-ready conditions (localization initialized, route set, Autoware control enabled).

Launch

Launch file:

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_mrm_reset_manager

0.53.0 (2026-09-29)

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

  • feat: add mrm reset manager (#12746)

    • feat(autoware_mrm_reset_manager): add MRM reset manager node
    • fix: codescene
    • fix: codescene
    • fix: service compatibility

    * fix(autoware_mrm_reset_manager): guard switcher interface init when non-redundant set_redundancy_switcher_interface_initializing() was called unconditionally during init and on the ready-state transition, even though its service is only expected to exist when is_redundant is true (are_required_services_ready already skips waiting for it otherwise). On a non-redundant configuration the call would time out every tick, so the init state machine never reached DONE and the aggregator initializing flag (diag graph latch) was never cleared. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * fix(autoware_mrm_reset_manager): keep periodic reset until actually ready on_periodic_reset_check() gated the periodic reset_redundancy_switcher retry on is_autoware_ready(), which only checks whether the localization/route/operation_mode topics have been received at least once, not their actual values. Once all three arrived (even while still uninitialized/unset/not-in-autonomous-control), the periodic reset stopped firing and never resumed, even though the system was not actually ready to leave the initializing phase. Gate on is_ready_for_operation() as well, so the reset keeps being requested every tick until localization is initialized, the route is set, and autonomous control is enabled. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * docs(autoware_mrm_reset_manager): note is_redundant skips switcher-interface calls too The is_redundant parameter description and the init/ready-state sections only mentioned reset_redundancy_switcher being skipped when is_redundant=false, not set_redundancy_switcher_interface_initializing. Now that the latter is guarded the same way, document both. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * style(pre-commit): autofix ---------Co-authored-by: Claude Sonnet 5 <<noreply@anthropic.com>> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • Contributors: Ryohsuke Mitsudome, Tetsuhiro Kawaguchi

Launch files

  • launch/mrm_reset_manager.launch.xml
      • is_redundant [default: true]
      • enable_autoware_ready_actions [default: true]
      • mrm_reset_manager_param_file [default: $(find-pkg-share autoware_mrm_reset_manager)/config/mrm_reset_manager.param.yaml]
      • input_reset_mrm [default: /system/mrm/reset]
      • input_localization_initialization_state [default: /api/localization/initialization_state]
      • input_route_state [default: /api/routing/state]
      • input_operation_mode_state [default: /api/operation_mode/state]
      • output_reset_diag_graph [default: /diagnostics_graph/reset]
      • output_reset_redundancy_switcher [default: /system/redundancy_switcher/reset]
      • output_set_aggregator_initializing [default: /system/aggregator/set_initializing]
      • output_set_redundancy_switcher_interface_initializing [default: /system/redundancy_switcher_interface/set_initializing]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_mrm_reset_manager at Robotics Stack Exchange

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autoware_mrm_reset_manager 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 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 2026-10-08
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Manages MRM reset orchestration by coordinating AD API states and forwarding reset requests to system services.

Maintainers

  • Tetsuhiro Kawaguchi
  • Makoto Kurihara

Authors

No additional authors.
system/autoware_mrm_reset_manager/README.md

autoware_mrm_reset_manager

Purpose

autoware_mrm_reset_manager manages MRM reset orchestration by:

  • forwarding reset_mrm requests to system reset services, and
  • coordinating initialization/reset timing from AD API states.

This package is focused on a single ECU path (no main/sub split logic).

Inner-workings / Algorithms

1. reset_mrm forwarding

When ~/input/reset_mrm is called, the node:

  1. Calls ~/output/reset_diag_graph
  2. Calls ~/output/reset_redundancy_switcher (only when is_redundant=true)
  3. Returns success when all enabled calls succeed

2. Initialization state machine

At startup, a 1-second timer advances the following state machine:

State Action
WAIT_SERVICES_READY Wait until all required output services are available (redundancy-switcher services are required only when is_redundant=true)
SET_AGGREGATOR_INIT Call set_aggregator_initializing(true)
RESET_SWITCHER Call reset_redundancy_switcher() (skipped, treated as success, when is_redundant=false)
SET_SWITCHER_INTERFACE_INIT Call set_redundancy_switcher_interface_initializing(true) (skipped, treated as success, when is_redundant=false)
DONE Stop init timer and start periodic 5-second check

3. Ready-state transition

The node subscribes to:

  • localization initialization state,
  • route state,
  • operation mode state.

When all of the following are true:

  • localization is initialized,
  • route is set,
  • Autoware control is enabled,

it performs the following actions only when enable_autoware_ready_actions=true:

  1. set_aggregator_initializing(false)
  2. reset_redundancy_switcher() (skipped, treated as success, when is_redundant=false)
  3. set_redundancy_switcher_interface_initializing(false) (skipped, treated as success, when is_redundant=false)

If the system is still initializing and not yet ready, a 5-second periodic timer retries reset_redundancy_switcher().

Inputs / Outputs

Input Service

Topic Type Description
~/input/reset_mrm tier4_external_api_msgs::srv::ResetMrm External MRM reset request

Input Subscriptions

Topic Type Description
~/input/localization_initialization_state autoware_adapi_v1_msgs::msg::LocalizationInitializationState Localization readiness
~/input/route_state autoware_adapi_v1_msgs::msg::RouteState Route readiness
~/input/operation_mode_state autoware_adapi_v1_msgs::msg::OperationModeState Autoware control state

Output Service Clients

Topic Type Description
~/output/reset_diag_graph tier4_system_msgs::srv::ResetDiagGraph Resets diagnostics graph
~/output/reset_redundancy_switcher tier4_system_msgs::srv::ResetRedundancySwitcher Resets redundancy switcher
~/output/set_aggregator_initializing std_srvs::srv::SetBool Sets aggregator initializing flag
~/output/set_redundancy_switcher_interface_initializing std_srvs::srv::SetBool Sets switcher-interface initializing flag

Parameters

Name Type Default Description
service_timeout_ms int 200 Timeout for each service call
is_redundant bool true Enables redundancy-switcher orchestration (reset_redundancy_switcher and set_redundancy_switcher_interface_initializing calls, and waiting for their services at startup). When false, these calls are skipped and treated as success.
enable_autoware_ready_actions bool true Enables service calls triggered by Autoware-ready conditions (localization initialized, route set, Autoware control enabled).

Launch

Launch file:

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_mrm_reset_manager

0.53.0 (2026-09-29)

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

  • feat: add mrm reset manager (#12746)

    • feat(autoware_mrm_reset_manager): add MRM reset manager node
    • fix: codescene
    • fix: codescene
    • fix: service compatibility

    * fix(autoware_mrm_reset_manager): guard switcher interface init when non-redundant set_redundancy_switcher_interface_initializing() was called unconditionally during init and on the ready-state transition, even though its service is only expected to exist when is_redundant is true (are_required_services_ready already skips waiting for it otherwise). On a non-redundant configuration the call would time out every tick, so the init state machine never reached DONE and the aggregator initializing flag (diag graph latch) was never cleared. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * fix(autoware_mrm_reset_manager): keep periodic reset until actually ready on_periodic_reset_check() gated the periodic reset_redundancy_switcher retry on is_autoware_ready(), which only checks whether the localization/route/operation_mode topics have been received at least once, not their actual values. Once all three arrived (even while still uninitialized/unset/not-in-autonomous-control), the periodic reset stopped firing and never resumed, even though the system was not actually ready to leave the initializing phase. Gate on is_ready_for_operation() as well, so the reset keeps being requested every tick until localization is initialized, the route is set, and autonomous control is enabled. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * docs(autoware_mrm_reset_manager): note is_redundant skips switcher-interface calls too The is_redundant parameter description and the init/ready-state sections only mentioned reset_redundancy_switcher being skipped when is_redundant=false, not set_redundancy_switcher_interface_initializing. Now that the latter is guarded the same way, document both. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * style(pre-commit): autofix ---------Co-authored-by: Claude Sonnet 5 <<noreply@anthropic.com>> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • Contributors: Ryohsuke Mitsudome, Tetsuhiro Kawaguchi

Launch files

  • launch/mrm_reset_manager.launch.xml
      • is_redundant [default: true]
      • enable_autoware_ready_actions [default: true]
      • mrm_reset_manager_param_file [default: $(find-pkg-share autoware_mrm_reset_manager)/config/mrm_reset_manager.param.yaml]
      • input_reset_mrm [default: /system/mrm/reset]
      • input_localization_initialization_state [default: /api/localization/initialization_state]
      • input_route_state [default: /api/routing/state]
      • input_operation_mode_state [default: /api/operation_mode/state]
      • output_reset_diag_graph [default: /diagnostics_graph/reset]
      • output_reset_redundancy_switcher [default: /system/redundancy_switcher/reset]
      • output_set_aggregator_initializing [default: /system/aggregator/set_initializing]
      • output_set_redundancy_switcher_interface_initializing [default: /system/redundancy_switcher_interface/set_initializing]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_mrm_reset_manager at Robotics Stack Exchange

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autoware_mrm_reset_manager 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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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 2026-10-08
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Manages MRM reset orchestration by coordinating AD API states and forwarding reset requests to system services.

Maintainers

  • Tetsuhiro Kawaguchi
  • Makoto Kurihara

Authors

No additional authors.
system/autoware_mrm_reset_manager/README.md

autoware_mrm_reset_manager

Purpose

autoware_mrm_reset_manager manages MRM reset orchestration by:

  • forwarding reset_mrm requests to system reset services, and
  • coordinating initialization/reset timing from AD API states.

This package is focused on a single ECU path (no main/sub split logic).

Inner-workings / Algorithms

1. reset_mrm forwarding

When ~/input/reset_mrm is called, the node:

  1. Calls ~/output/reset_diag_graph
  2. Calls ~/output/reset_redundancy_switcher (only when is_redundant=true)
  3. Returns success when all enabled calls succeed

2. Initialization state machine

At startup, a 1-second timer advances the following state machine:

State Action
WAIT_SERVICES_READY Wait until all required output services are available (redundancy-switcher services are required only when is_redundant=true)
SET_AGGREGATOR_INIT Call set_aggregator_initializing(true)
RESET_SWITCHER Call reset_redundancy_switcher() (skipped, treated as success, when is_redundant=false)
SET_SWITCHER_INTERFACE_INIT Call set_redundancy_switcher_interface_initializing(true) (skipped, treated as success, when is_redundant=false)
DONE Stop init timer and start periodic 5-second check

3. Ready-state transition

The node subscribes to:

  • localization initialization state,
  • route state,
  • operation mode state.

When all of the following are true:

  • localization is initialized,
  • route is set,
  • Autoware control is enabled,

it performs the following actions only when enable_autoware_ready_actions=true:

  1. set_aggregator_initializing(false)
  2. reset_redundancy_switcher() (skipped, treated as success, when is_redundant=false)
  3. set_redundancy_switcher_interface_initializing(false) (skipped, treated as success, when is_redundant=false)

If the system is still initializing and not yet ready, a 5-second periodic timer retries reset_redundancy_switcher().

Inputs / Outputs

Input Service

Topic Type Description
~/input/reset_mrm tier4_external_api_msgs::srv::ResetMrm External MRM reset request

Input Subscriptions

Topic Type Description
~/input/localization_initialization_state autoware_adapi_v1_msgs::msg::LocalizationInitializationState Localization readiness
~/input/route_state autoware_adapi_v1_msgs::msg::RouteState Route readiness
~/input/operation_mode_state autoware_adapi_v1_msgs::msg::OperationModeState Autoware control state

Output Service Clients

Topic Type Description
~/output/reset_diag_graph tier4_system_msgs::srv::ResetDiagGraph Resets diagnostics graph
~/output/reset_redundancy_switcher tier4_system_msgs::srv::ResetRedundancySwitcher Resets redundancy switcher
~/output/set_aggregator_initializing std_srvs::srv::SetBool Sets aggregator initializing flag
~/output/set_redundancy_switcher_interface_initializing std_srvs::srv::SetBool Sets switcher-interface initializing flag

Parameters

Name Type Default Description
service_timeout_ms int 200 Timeout for each service call
is_redundant bool true Enables redundancy-switcher orchestration (reset_redundancy_switcher and set_redundancy_switcher_interface_initializing calls, and waiting for their services at startup). When false, these calls are skipped and treated as success.
enable_autoware_ready_actions bool true Enables service calls triggered by Autoware-ready conditions (localization initialized, route set, Autoware control enabled).

Launch

Launch file:

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_mrm_reset_manager

0.53.0 (2026-09-29)

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

  • feat: add mrm reset manager (#12746)

    • feat(autoware_mrm_reset_manager): add MRM reset manager node
    • fix: codescene
    • fix: codescene
    • fix: service compatibility

    * fix(autoware_mrm_reset_manager): guard switcher interface init when non-redundant set_redundancy_switcher_interface_initializing() was called unconditionally during init and on the ready-state transition, even though its service is only expected to exist when is_redundant is true (are_required_services_ready already skips waiting for it otherwise). On a non-redundant configuration the call would time out every tick, so the init state machine never reached DONE and the aggregator initializing flag (diag graph latch) was never cleared. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * fix(autoware_mrm_reset_manager): keep periodic reset until actually ready on_periodic_reset_check() gated the periodic reset_redundancy_switcher retry on is_autoware_ready(), which only checks whether the localization/route/operation_mode topics have been received at least once, not their actual values. Once all three arrived (even while still uninitialized/unset/not-in-autonomous-control), the periodic reset stopped firing and never resumed, even though the system was not actually ready to leave the initializing phase. Gate on is_ready_for_operation() as well, so the reset keeps being requested every tick until localization is initialized, the route is set, and autonomous control is enabled. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * docs(autoware_mrm_reset_manager): note is_redundant skips switcher-interface calls too The is_redundant parameter description and the init/ready-state sections only mentioned reset_redundancy_switcher being skipped when is_redundant=false, not set_redundancy_switcher_interface_initializing. Now that the latter is guarded the same way, document both. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * style(pre-commit): autofix ---------Co-authored-by: Claude Sonnet 5 <<noreply@anthropic.com>> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • Contributors: Ryohsuke Mitsudome, Tetsuhiro Kawaguchi

Launch files

  • launch/mrm_reset_manager.launch.xml
      • is_redundant [default: true]
      • enable_autoware_ready_actions [default: true]
      • mrm_reset_manager_param_file [default: $(find-pkg-share autoware_mrm_reset_manager)/config/mrm_reset_manager.param.yaml]
      • input_reset_mrm [default: /system/mrm/reset]
      • input_localization_initialization_state [default: /api/localization/initialization_state]
      • input_route_state [default: /api/routing/state]
      • input_operation_mode_state [default: /api/operation_mode/state]
      • output_reset_diag_graph [default: /diagnostics_graph/reset]
      • output_reset_redundancy_switcher [default: /system/redundancy_switcher/reset]
      • output_set_aggregator_initializing [default: /system/aggregator/set_initializing]
      • output_set_redundancy_switcher_interface_initializing [default: /system/redundancy_switcher_interface/set_initializing]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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autoware_mrm_reset_manager 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 2026-10-08
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Manages MRM reset orchestration by coordinating AD API states and forwarding reset requests to system services.

Maintainers

  • Tetsuhiro Kawaguchi
  • Makoto Kurihara

Authors

No additional authors.
system/autoware_mrm_reset_manager/README.md

autoware_mrm_reset_manager

Purpose

autoware_mrm_reset_manager manages MRM reset orchestration by:

  • forwarding reset_mrm requests to system reset services, and
  • coordinating initialization/reset timing from AD API states.

This package is focused on a single ECU path (no main/sub split logic).

Inner-workings / Algorithms

1. reset_mrm forwarding

When ~/input/reset_mrm is called, the node:

  1. Calls ~/output/reset_diag_graph
  2. Calls ~/output/reset_redundancy_switcher (only when is_redundant=true)
  3. Returns success when all enabled calls succeed

2. Initialization state machine

At startup, a 1-second timer advances the following state machine:

State Action
WAIT_SERVICES_READY Wait until all required output services are available (redundancy-switcher services are required only when is_redundant=true)
SET_AGGREGATOR_INIT Call set_aggregator_initializing(true)
RESET_SWITCHER Call reset_redundancy_switcher() (skipped, treated as success, when is_redundant=false)
SET_SWITCHER_INTERFACE_INIT Call set_redundancy_switcher_interface_initializing(true) (skipped, treated as success, when is_redundant=false)
DONE Stop init timer and start periodic 5-second check

3. Ready-state transition

The node subscribes to:

  • localization initialization state,
  • route state,
  • operation mode state.

When all of the following are true:

  • localization is initialized,
  • route is set,
  • Autoware control is enabled,

it performs the following actions only when enable_autoware_ready_actions=true:

  1. set_aggregator_initializing(false)
  2. reset_redundancy_switcher() (skipped, treated as success, when is_redundant=false)
  3. set_redundancy_switcher_interface_initializing(false) (skipped, treated as success, when is_redundant=false)

If the system is still initializing and not yet ready, a 5-second periodic timer retries reset_redundancy_switcher().

Inputs / Outputs

Input Service

Topic Type Description
~/input/reset_mrm tier4_external_api_msgs::srv::ResetMrm External MRM reset request

Input Subscriptions

Topic Type Description
~/input/localization_initialization_state autoware_adapi_v1_msgs::msg::LocalizationInitializationState Localization readiness
~/input/route_state autoware_adapi_v1_msgs::msg::RouteState Route readiness
~/input/operation_mode_state autoware_adapi_v1_msgs::msg::OperationModeState Autoware control state

Output Service Clients

Topic Type Description
~/output/reset_diag_graph tier4_system_msgs::srv::ResetDiagGraph Resets diagnostics graph
~/output/reset_redundancy_switcher tier4_system_msgs::srv::ResetRedundancySwitcher Resets redundancy switcher
~/output/set_aggregator_initializing std_srvs::srv::SetBool Sets aggregator initializing flag
~/output/set_redundancy_switcher_interface_initializing std_srvs::srv::SetBool Sets switcher-interface initializing flag

Parameters

Name Type Default Description
service_timeout_ms int 200 Timeout for each service call
is_redundant bool true Enables redundancy-switcher orchestration (reset_redundancy_switcher and set_redundancy_switcher_interface_initializing calls, and waiting for their services at startup). When false, these calls are skipped and treated as success.
enable_autoware_ready_actions bool true Enables service calls triggered by Autoware-ready conditions (localization initialized, route set, Autoware control enabled).

Launch

Launch file:

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_mrm_reset_manager

0.53.0 (2026-09-29)

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

  • feat: add mrm reset manager (#12746)

    • feat(autoware_mrm_reset_manager): add MRM reset manager node
    • fix: codescene
    • fix: codescene
    • fix: service compatibility

    * fix(autoware_mrm_reset_manager): guard switcher interface init when non-redundant set_redundancy_switcher_interface_initializing() was called unconditionally during init and on the ready-state transition, even though its service is only expected to exist when is_redundant is true (are_required_services_ready already skips waiting for it otherwise). On a non-redundant configuration the call would time out every tick, so the init state machine never reached DONE and the aggregator initializing flag (diag graph latch) was never cleared. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * fix(autoware_mrm_reset_manager): keep periodic reset until actually ready on_periodic_reset_check() gated the periodic reset_redundancy_switcher retry on is_autoware_ready(), which only checks whether the localization/route/operation_mode topics have been received at least once, not their actual values. Once all three arrived (even while still uninitialized/unset/not-in-autonomous-control), the periodic reset stopped firing and never resumed, even though the system was not actually ready to leave the initializing phase. Gate on is_ready_for_operation() as well, so the reset keeps being requested every tick until localization is initialized, the route is set, and autonomous control is enabled. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * docs(autoware_mrm_reset_manager): note is_redundant skips switcher-interface calls too The is_redundant parameter description and the init/ready-state sections only mentioned reset_redundancy_switcher being skipped when is_redundant=false, not set_redundancy_switcher_interface_initializing. Now that the latter is guarded the same way, document both. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * style(pre-commit): autofix ---------Co-authored-by: Claude Sonnet 5 <<noreply@anthropic.com>> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • Contributors: Ryohsuke Mitsudome, Tetsuhiro Kawaguchi

Launch files

  • launch/mrm_reset_manager.launch.xml
      • is_redundant [default: true]
      • enable_autoware_ready_actions [default: true]
      • mrm_reset_manager_param_file [default: $(find-pkg-share autoware_mrm_reset_manager)/config/mrm_reset_manager.param.yaml]
      • input_reset_mrm [default: /system/mrm/reset]
      • input_localization_initialization_state [default: /api/localization/initialization_state]
      • input_route_state [default: /api/routing/state]
      • input_operation_mode_state [default: /api/operation_mode/state]
      • output_reset_diag_graph [default: /diagnostics_graph/reset]
      • output_reset_redundancy_switcher [default: /system/redundancy_switcher/reset]
      • output_set_aggregator_initializing [default: /system/aggregator/set_initializing]
      • output_set_redundancy_switcher_interface_initializing [default: /system/redundancy_switcher_interface/set_initializing]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_mrm_reset_manager at Robotics Stack Exchange

Package symbol

autoware_mrm_reset_manager package from autoware_universe repo

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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 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 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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 2026-10-08
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Manages MRM reset orchestration by coordinating AD API states and forwarding reset requests to system services.

Maintainers

  • Tetsuhiro Kawaguchi
  • Makoto Kurihara

Authors

No additional authors.
system/autoware_mrm_reset_manager/README.md

autoware_mrm_reset_manager

Purpose

autoware_mrm_reset_manager manages MRM reset orchestration by:

  • forwarding reset_mrm requests to system reset services, and
  • coordinating initialization/reset timing from AD API states.

This package is focused on a single ECU path (no main/sub split logic).

Inner-workings / Algorithms

1. reset_mrm forwarding

When ~/input/reset_mrm is called, the node:

  1. Calls ~/output/reset_diag_graph
  2. Calls ~/output/reset_redundancy_switcher (only when is_redundant=true)
  3. Returns success when all enabled calls succeed

2. Initialization state machine

At startup, a 1-second timer advances the following state machine:

State Action
WAIT_SERVICES_READY Wait until all required output services are available (redundancy-switcher services are required only when is_redundant=true)
SET_AGGREGATOR_INIT Call set_aggregator_initializing(true)
RESET_SWITCHER Call reset_redundancy_switcher() (skipped, treated as success, when is_redundant=false)
SET_SWITCHER_INTERFACE_INIT Call set_redundancy_switcher_interface_initializing(true) (skipped, treated as success, when is_redundant=false)
DONE Stop init timer and start periodic 5-second check

3. Ready-state transition

The node subscribes to:

  • localization initialization state,
  • route state,
  • operation mode state.

When all of the following are true:

  • localization is initialized,
  • route is set,
  • Autoware control is enabled,

it performs the following actions only when enable_autoware_ready_actions=true:

  1. set_aggregator_initializing(false)
  2. reset_redundancy_switcher() (skipped, treated as success, when is_redundant=false)
  3. set_redundancy_switcher_interface_initializing(false) (skipped, treated as success, when is_redundant=false)

If the system is still initializing and not yet ready, a 5-second periodic timer retries reset_redundancy_switcher().

Inputs / Outputs

Input Service

Topic Type Description
~/input/reset_mrm tier4_external_api_msgs::srv::ResetMrm External MRM reset request

Input Subscriptions

Topic Type Description
~/input/localization_initialization_state autoware_adapi_v1_msgs::msg::LocalizationInitializationState Localization readiness
~/input/route_state autoware_adapi_v1_msgs::msg::RouteState Route readiness
~/input/operation_mode_state autoware_adapi_v1_msgs::msg::OperationModeState Autoware control state

Output Service Clients

Topic Type Description
~/output/reset_diag_graph tier4_system_msgs::srv::ResetDiagGraph Resets diagnostics graph
~/output/reset_redundancy_switcher tier4_system_msgs::srv::ResetRedundancySwitcher Resets redundancy switcher
~/output/set_aggregator_initializing std_srvs::srv::SetBool Sets aggregator initializing flag
~/output/set_redundancy_switcher_interface_initializing std_srvs::srv::SetBool Sets switcher-interface initializing flag

Parameters

Name Type Default Description
service_timeout_ms int 200 Timeout for each service call
is_redundant bool true Enables redundancy-switcher orchestration (reset_redundancy_switcher and set_redundancy_switcher_interface_initializing calls, and waiting for their services at startup). When false, these calls are skipped and treated as success.
enable_autoware_ready_actions bool true Enables service calls triggered by Autoware-ready conditions (localization initialized, route set, Autoware control enabled).

Launch

Launch file:

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_mrm_reset_manager

0.53.0 (2026-09-29)

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

  • feat: add mrm reset manager (#12746)

    • feat(autoware_mrm_reset_manager): add MRM reset manager node
    • fix: codescene
    • fix: codescene
    • fix: service compatibility

    * fix(autoware_mrm_reset_manager): guard switcher interface init when non-redundant set_redundancy_switcher_interface_initializing() was called unconditionally during init and on the ready-state transition, even though its service is only expected to exist when is_redundant is true (are_required_services_ready already skips waiting for it otherwise). On a non-redundant configuration the call would time out every tick, so the init state machine never reached DONE and the aggregator initializing flag (diag graph latch) was never cleared. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * fix(autoware_mrm_reset_manager): keep periodic reset until actually ready on_periodic_reset_check() gated the periodic reset_redundancy_switcher retry on is_autoware_ready(), which only checks whether the localization/route/operation_mode topics have been received at least once, not their actual values. Once all three arrived (even while still uninitialized/unset/not-in-autonomous-control), the periodic reset stopped firing and never resumed, even though the system was not actually ready to leave the initializing phase. Gate on is_ready_for_operation() as well, so the reset keeps being requested every tick until localization is initialized, the route is set, and autonomous control is enabled. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * docs(autoware_mrm_reset_manager): note is_redundant skips switcher-interface calls too The is_redundant parameter description and the init/ready-state sections only mentioned reset_redundancy_switcher being skipped when is_redundant=false, not set_redundancy_switcher_interface_initializing. Now that the latter is guarded the same way, document both. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * style(pre-commit): autofix ---------Co-authored-by: Claude Sonnet 5 <<noreply@anthropic.com>> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • Contributors: Ryohsuke Mitsudome, Tetsuhiro Kawaguchi

Launch files

  • launch/mrm_reset_manager.launch.xml
      • is_redundant [default: true]
      • enable_autoware_ready_actions [default: true]
      • mrm_reset_manager_param_file [default: $(find-pkg-share autoware_mrm_reset_manager)/config/mrm_reset_manager.param.yaml]
      • input_reset_mrm [default: /system/mrm/reset]
      • input_localization_initialization_state [default: /api/localization/initialization_state]
      • input_route_state [default: /api/routing/state]
      • input_operation_mode_state [default: /api/operation_mode/state]
      • output_reset_diag_graph [default: /diagnostics_graph/reset]
      • output_reset_redundancy_switcher [default: /system/redundancy_switcher/reset]
      • output_set_aggregator_initializing [default: /system/aggregator/set_initializing]
      • output_set_redundancy_switcher_interface_initializing [default: /system/redundancy_switcher_interface/set_initializing]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_mrm_reset_manager at Robotics Stack Exchange

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autoware_mrm_reset_manager 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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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 2026-10-08
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Manages MRM reset orchestration by coordinating AD API states and forwarding reset requests to system services.

Maintainers

  • Tetsuhiro Kawaguchi
  • Makoto Kurihara

Authors

No additional authors.
system/autoware_mrm_reset_manager/README.md

autoware_mrm_reset_manager

Purpose

autoware_mrm_reset_manager manages MRM reset orchestration by:

  • forwarding reset_mrm requests to system reset services, and
  • coordinating initialization/reset timing from AD API states.

This package is focused on a single ECU path (no main/sub split logic).

Inner-workings / Algorithms

1. reset_mrm forwarding

When ~/input/reset_mrm is called, the node:

  1. Calls ~/output/reset_diag_graph
  2. Calls ~/output/reset_redundancy_switcher (only when is_redundant=true)
  3. Returns success when all enabled calls succeed

2. Initialization state machine

At startup, a 1-second timer advances the following state machine:

State Action
WAIT_SERVICES_READY Wait until all required output services are available (redundancy-switcher services are required only when is_redundant=true)
SET_AGGREGATOR_INIT Call set_aggregator_initializing(true)
RESET_SWITCHER Call reset_redundancy_switcher() (skipped, treated as success, when is_redundant=false)
SET_SWITCHER_INTERFACE_INIT Call set_redundancy_switcher_interface_initializing(true) (skipped, treated as success, when is_redundant=false)
DONE Stop init timer and start periodic 5-second check

3. Ready-state transition

The node subscribes to:

  • localization initialization state,
  • route state,
  • operation mode state.

When all of the following are true:

  • localization is initialized,
  • route is set,
  • Autoware control is enabled,

it performs the following actions only when enable_autoware_ready_actions=true:

  1. set_aggregator_initializing(false)
  2. reset_redundancy_switcher() (skipped, treated as success, when is_redundant=false)
  3. set_redundancy_switcher_interface_initializing(false) (skipped, treated as success, when is_redundant=false)

If the system is still initializing and not yet ready, a 5-second periodic timer retries reset_redundancy_switcher().

Inputs / Outputs

Input Service

Topic Type Description
~/input/reset_mrm tier4_external_api_msgs::srv::ResetMrm External MRM reset request

Input Subscriptions

Topic Type Description
~/input/localization_initialization_state autoware_adapi_v1_msgs::msg::LocalizationInitializationState Localization readiness
~/input/route_state autoware_adapi_v1_msgs::msg::RouteState Route readiness
~/input/operation_mode_state autoware_adapi_v1_msgs::msg::OperationModeState Autoware control state

Output Service Clients

Topic Type Description
~/output/reset_diag_graph tier4_system_msgs::srv::ResetDiagGraph Resets diagnostics graph
~/output/reset_redundancy_switcher tier4_system_msgs::srv::ResetRedundancySwitcher Resets redundancy switcher
~/output/set_aggregator_initializing std_srvs::srv::SetBool Sets aggregator initializing flag
~/output/set_redundancy_switcher_interface_initializing std_srvs::srv::SetBool Sets switcher-interface initializing flag

Parameters

Name Type Default Description
service_timeout_ms int 200 Timeout for each service call
is_redundant bool true Enables redundancy-switcher orchestration (reset_redundancy_switcher and set_redundancy_switcher_interface_initializing calls, and waiting for their services at startup). When false, these calls are skipped and treated as success.
enable_autoware_ready_actions bool true Enables service calls triggered by Autoware-ready conditions (localization initialized, route set, Autoware control enabled).

Launch

Launch file:

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_mrm_reset_manager

0.53.0 (2026-09-29)

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

  • feat: add mrm reset manager (#12746)

    • feat(autoware_mrm_reset_manager): add MRM reset manager node
    • fix: codescene
    • fix: codescene
    • fix: service compatibility

    * fix(autoware_mrm_reset_manager): guard switcher interface init when non-redundant set_redundancy_switcher_interface_initializing() was called unconditionally during init and on the ready-state transition, even though its service is only expected to exist when is_redundant is true (are_required_services_ready already skips waiting for it otherwise). On a non-redundant configuration the call would time out every tick, so the init state machine never reached DONE and the aggregator initializing flag (diag graph latch) was never cleared. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * fix(autoware_mrm_reset_manager): keep periodic reset until actually ready on_periodic_reset_check() gated the periodic reset_redundancy_switcher retry on is_autoware_ready(), which only checks whether the localization/route/operation_mode topics have been received at least once, not their actual values. Once all three arrived (even while still uninitialized/unset/not-in-autonomous-control), the periodic reset stopped firing and never resumed, even though the system was not actually ready to leave the initializing phase. Gate on is_ready_for_operation() as well, so the reset keeps being requested every tick until localization is initialized, the route is set, and autonomous control is enabled. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * docs(autoware_mrm_reset_manager): note is_redundant skips switcher-interface calls too The is_redundant parameter description and the init/ready-state sections only mentioned reset_redundancy_switcher being skipped when is_redundant=false, not set_redundancy_switcher_interface_initializing. Now that the latter is guarded the same way, document both. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * style(pre-commit): autofix ---------Co-authored-by: Claude Sonnet 5 <<noreply@anthropic.com>> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • Contributors: Ryohsuke Mitsudome, Tetsuhiro Kawaguchi

Launch files

  • launch/mrm_reset_manager.launch.xml
      • is_redundant [default: true]
      • enable_autoware_ready_actions [default: true]
      • mrm_reset_manager_param_file [default: $(find-pkg-share autoware_mrm_reset_manager)/config/mrm_reset_manager.param.yaml]
      • input_reset_mrm [default: /system/mrm/reset]
      • input_localization_initialization_state [default: /api/localization/initialization_state]
      • input_route_state [default: /api/routing/state]
      • input_operation_mode_state [default: /api/operation_mode/state]
      • output_reset_diag_graph [default: /diagnostics_graph/reset]
      • output_reset_redundancy_switcher [default: /system/redundancy_switcher/reset]
      • output_set_aggregator_initializing [default: /system/aggregator/set_initializing]
      • output_set_redundancy_switcher_interface_initializing [default: /system/redundancy_switcher_interface/set_initializing]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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autoware_mrm_reset_manager 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 2026-10-08
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Manages MRM reset orchestration by coordinating AD API states and forwarding reset requests to system services.

Maintainers

  • Tetsuhiro Kawaguchi
  • Makoto Kurihara

Authors

No additional authors.
system/autoware_mrm_reset_manager/README.md

autoware_mrm_reset_manager

Purpose

autoware_mrm_reset_manager manages MRM reset orchestration by:

  • forwarding reset_mrm requests to system reset services, and
  • coordinating initialization/reset timing from AD API states.

This package is focused on a single ECU path (no main/sub split logic).

Inner-workings / Algorithms

1. reset_mrm forwarding

When ~/input/reset_mrm is called, the node:

  1. Calls ~/output/reset_diag_graph
  2. Calls ~/output/reset_redundancy_switcher (only when is_redundant=true)
  3. Returns success when all enabled calls succeed

2. Initialization state machine

At startup, a 1-second timer advances the following state machine:

State Action
WAIT_SERVICES_READY Wait until all required output services are available (redundancy-switcher services are required only when is_redundant=true)
SET_AGGREGATOR_INIT Call set_aggregator_initializing(true)
RESET_SWITCHER Call reset_redundancy_switcher() (skipped, treated as success, when is_redundant=false)
SET_SWITCHER_INTERFACE_INIT Call set_redundancy_switcher_interface_initializing(true) (skipped, treated as success, when is_redundant=false)
DONE Stop init timer and start periodic 5-second check

3. Ready-state transition

The node subscribes to:

  • localization initialization state,
  • route state,
  • operation mode state.

When all of the following are true:

  • localization is initialized,
  • route is set,
  • Autoware control is enabled,

it performs the following actions only when enable_autoware_ready_actions=true:

  1. set_aggregator_initializing(false)
  2. reset_redundancy_switcher() (skipped, treated as success, when is_redundant=false)
  3. set_redundancy_switcher_interface_initializing(false) (skipped, treated as success, when is_redundant=false)

If the system is still initializing and not yet ready, a 5-second periodic timer retries reset_redundancy_switcher().

Inputs / Outputs

Input Service

Topic Type Description
~/input/reset_mrm tier4_external_api_msgs::srv::ResetMrm External MRM reset request

Input Subscriptions

Topic Type Description
~/input/localization_initialization_state autoware_adapi_v1_msgs::msg::LocalizationInitializationState Localization readiness
~/input/route_state autoware_adapi_v1_msgs::msg::RouteState Route readiness
~/input/operation_mode_state autoware_adapi_v1_msgs::msg::OperationModeState Autoware control state

Output Service Clients

Topic Type Description
~/output/reset_diag_graph tier4_system_msgs::srv::ResetDiagGraph Resets diagnostics graph
~/output/reset_redundancy_switcher tier4_system_msgs::srv::ResetRedundancySwitcher Resets redundancy switcher
~/output/set_aggregator_initializing std_srvs::srv::SetBool Sets aggregator initializing flag
~/output/set_redundancy_switcher_interface_initializing std_srvs::srv::SetBool Sets switcher-interface initializing flag

Parameters

Name Type Default Description
service_timeout_ms int 200 Timeout for each service call
is_redundant bool true Enables redundancy-switcher orchestration (reset_redundancy_switcher and set_redundancy_switcher_interface_initializing calls, and waiting for their services at startup). When false, these calls are skipped and treated as success.
enable_autoware_ready_actions bool true Enables service calls triggered by Autoware-ready conditions (localization initialized, route set, Autoware control enabled).

Launch

Launch file:

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_mrm_reset_manager

0.53.0 (2026-09-29)

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

  • feat: add mrm reset manager (#12746)

    • feat(autoware_mrm_reset_manager): add MRM reset manager node
    • fix: codescene
    • fix: codescene
    • fix: service compatibility

    * fix(autoware_mrm_reset_manager): guard switcher interface init when non-redundant set_redundancy_switcher_interface_initializing() was called unconditionally during init and on the ready-state transition, even though its service is only expected to exist when is_redundant is true (are_required_services_ready already skips waiting for it otherwise). On a non-redundant configuration the call would time out every tick, so the init state machine never reached DONE and the aggregator initializing flag (diag graph latch) was never cleared. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * fix(autoware_mrm_reset_manager): keep periodic reset until actually ready on_periodic_reset_check() gated the periodic reset_redundancy_switcher retry on is_autoware_ready(), which only checks whether the localization/route/operation_mode topics have been received at least once, not their actual values. Once all three arrived (even while still uninitialized/unset/not-in-autonomous-control), the periodic reset stopped firing and never resumed, even though the system was not actually ready to leave the initializing phase. Gate on is_ready_for_operation() as well, so the reset keeps being requested every tick until localization is initialized, the route is set, and autonomous control is enabled. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * docs(autoware_mrm_reset_manager): note is_redundant skips switcher-interface calls too The is_redundant parameter description and the init/ready-state sections only mentioned reset_redundancy_switcher being skipped when is_redundant=false, not set_redundancy_switcher_interface_initializing. Now that the latter is guarded the same way, document both. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * style(pre-commit): autofix ---------Co-authored-by: Claude Sonnet 5 <<noreply@anthropic.com>> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • Contributors: Ryohsuke Mitsudome, Tetsuhiro Kawaguchi

Launch files

  • launch/mrm_reset_manager.launch.xml
      • is_redundant [default: true]
      • enable_autoware_ready_actions [default: true]
      • mrm_reset_manager_param_file [default: $(find-pkg-share autoware_mrm_reset_manager)/config/mrm_reset_manager.param.yaml]
      • input_reset_mrm [default: /system/mrm/reset]
      • input_localization_initialization_state [default: /api/localization/initialization_state]
      • input_route_state [default: /api/routing/state]
      • input_operation_mode_state [default: /api/operation_mode/state]
      • output_reset_diag_graph [default: /diagnostics_graph/reset]
      • output_reset_redundancy_switcher [default: /system/redundancy_switcher/reset]
      • output_set_aggregator_initializing [default: /system/aggregator/set_initializing]
      • output_set_redundancy_switcher_interface_initializing [default: /system/redundancy_switcher_interface/set_initializing]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_mrm_reset_manager at Robotics Stack Exchange

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autoware_mrm_reset_manager package from autoware_universe repo

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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 2026-10-08
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Manages MRM reset orchestration by coordinating AD API states and forwarding reset requests to system services.

Maintainers

  • Tetsuhiro Kawaguchi
  • Makoto Kurihara

Authors

No additional authors.
system/autoware_mrm_reset_manager/README.md

autoware_mrm_reset_manager

Purpose

autoware_mrm_reset_manager manages MRM reset orchestration by:

  • forwarding reset_mrm requests to system reset services, and
  • coordinating initialization/reset timing from AD API states.

This package is focused on a single ECU path (no main/sub split logic).

Inner-workings / Algorithms

1. reset_mrm forwarding

When ~/input/reset_mrm is called, the node:

  1. Calls ~/output/reset_diag_graph
  2. Calls ~/output/reset_redundancy_switcher (only when is_redundant=true)
  3. Returns success when all enabled calls succeed

2. Initialization state machine

At startup, a 1-second timer advances the following state machine:

State Action
WAIT_SERVICES_READY Wait until all required output services are available (redundancy-switcher services are required only when is_redundant=true)
SET_AGGREGATOR_INIT Call set_aggregator_initializing(true)
RESET_SWITCHER Call reset_redundancy_switcher() (skipped, treated as success, when is_redundant=false)
SET_SWITCHER_INTERFACE_INIT Call set_redundancy_switcher_interface_initializing(true) (skipped, treated as success, when is_redundant=false)
DONE Stop init timer and start periodic 5-second check

3. Ready-state transition

The node subscribes to:

  • localization initialization state,
  • route state,
  • operation mode state.

When all of the following are true:

  • localization is initialized,
  • route is set,
  • Autoware control is enabled,

it performs the following actions only when enable_autoware_ready_actions=true:

  1. set_aggregator_initializing(false)
  2. reset_redundancy_switcher() (skipped, treated as success, when is_redundant=false)
  3. set_redundancy_switcher_interface_initializing(false) (skipped, treated as success, when is_redundant=false)

If the system is still initializing and not yet ready, a 5-second periodic timer retries reset_redundancy_switcher().

Inputs / Outputs

Input Service

Topic Type Description
~/input/reset_mrm tier4_external_api_msgs::srv::ResetMrm External MRM reset request

Input Subscriptions

Topic Type Description
~/input/localization_initialization_state autoware_adapi_v1_msgs::msg::LocalizationInitializationState Localization readiness
~/input/route_state autoware_adapi_v1_msgs::msg::RouteState Route readiness
~/input/operation_mode_state autoware_adapi_v1_msgs::msg::OperationModeState Autoware control state

Output Service Clients

Topic Type Description
~/output/reset_diag_graph tier4_system_msgs::srv::ResetDiagGraph Resets diagnostics graph
~/output/reset_redundancy_switcher tier4_system_msgs::srv::ResetRedundancySwitcher Resets redundancy switcher
~/output/set_aggregator_initializing std_srvs::srv::SetBool Sets aggregator initializing flag
~/output/set_redundancy_switcher_interface_initializing std_srvs::srv::SetBool Sets switcher-interface initializing flag

Parameters

Name Type Default Description
service_timeout_ms int 200 Timeout for each service call
is_redundant bool true Enables redundancy-switcher orchestration (reset_redundancy_switcher and set_redundancy_switcher_interface_initializing calls, and waiting for their services at startup). When false, these calls are skipped and treated as success.
enable_autoware_ready_actions bool true Enables service calls triggered by Autoware-ready conditions (localization initialized, route set, Autoware control enabled).

Launch

Launch file:

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_mrm_reset_manager

0.53.0 (2026-09-29)

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

  • feat: add mrm reset manager (#12746)

    • feat(autoware_mrm_reset_manager): add MRM reset manager node
    • fix: codescene
    • fix: codescene
    • fix: service compatibility

    * fix(autoware_mrm_reset_manager): guard switcher interface init when non-redundant set_redundancy_switcher_interface_initializing() was called unconditionally during init and on the ready-state transition, even though its service is only expected to exist when is_redundant is true (are_required_services_ready already skips waiting for it otherwise). On a non-redundant configuration the call would time out every tick, so the init state machine never reached DONE and the aggregator initializing flag (diag graph latch) was never cleared. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * fix(autoware_mrm_reset_manager): keep periodic reset until actually ready on_periodic_reset_check() gated the periodic reset_redundancy_switcher retry on is_autoware_ready(), which only checks whether the localization/route/operation_mode topics have been received at least once, not their actual values. Once all three arrived (even while still uninitialized/unset/not-in-autonomous-control), the periodic reset stopped firing and never resumed, even though the system was not actually ready to leave the initializing phase. Gate on is_ready_for_operation() as well, so the reset keeps being requested every tick until localization is initialized, the route is set, and autonomous control is enabled. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * docs(autoware_mrm_reset_manager): note is_redundant skips switcher-interface calls too The is_redundant parameter description and the init/ready-state sections only mentioned reset_redundancy_switcher being skipped when is_redundant=false, not set_redundancy_switcher_interface_initializing. Now that the latter is guarded the same way, document both. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * style(pre-commit): autofix ---------Co-authored-by: Claude Sonnet 5 <<noreply@anthropic.com>> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • Contributors: Ryohsuke Mitsudome, Tetsuhiro Kawaguchi

Launch files

  • launch/mrm_reset_manager.launch.xml
      • is_redundant [default: true]
      • enable_autoware_ready_actions [default: true]
      • mrm_reset_manager_param_file [default: $(find-pkg-share autoware_mrm_reset_manager)/config/mrm_reset_manager.param.yaml]
      • input_reset_mrm [default: /system/mrm/reset]
      • input_localization_initialization_state [default: /api/localization/initialization_state]
      • input_route_state [default: /api/routing/state]
      • input_operation_mode_state [default: /api/operation_mode/state]
      • output_reset_diag_graph [default: /diagnostics_graph/reset]
      • output_reset_redundancy_switcher [default: /system/redundancy_switcher/reset]
      • output_set_aggregator_initializing [default: /system/aggregator/set_initializing]
      • output_set_redundancy_switcher_interface_initializing [default: /system/redundancy_switcher_interface/set_initializing]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_mrm_reset_manager at Robotics Stack Exchange

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autoware_mrm_reset_manager 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 2026-10-08
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Manages MRM reset orchestration by coordinating AD API states and forwarding reset requests to system services.

Maintainers

  • Tetsuhiro Kawaguchi
  • Makoto Kurihara

Authors

No additional authors.
system/autoware_mrm_reset_manager/README.md

autoware_mrm_reset_manager

Purpose

autoware_mrm_reset_manager manages MRM reset orchestration by:

  • forwarding reset_mrm requests to system reset services, and
  • coordinating initialization/reset timing from AD API states.

This package is focused on a single ECU path (no main/sub split logic).

Inner-workings / Algorithms

1. reset_mrm forwarding

When ~/input/reset_mrm is called, the node:

  1. Calls ~/output/reset_diag_graph
  2. Calls ~/output/reset_redundancy_switcher (only when is_redundant=true)
  3. Returns success when all enabled calls succeed

2. Initialization state machine

At startup, a 1-second timer advances the following state machine:

State Action
WAIT_SERVICES_READY Wait until all required output services are available (redundancy-switcher services are required only when is_redundant=true)
SET_AGGREGATOR_INIT Call set_aggregator_initializing(true)
RESET_SWITCHER Call reset_redundancy_switcher() (skipped, treated as success, when is_redundant=false)
SET_SWITCHER_INTERFACE_INIT Call set_redundancy_switcher_interface_initializing(true) (skipped, treated as success, when is_redundant=false)
DONE Stop init timer and start periodic 5-second check

3. Ready-state transition

The node subscribes to:

  • localization initialization state,
  • route state,
  • operation mode state.

When all of the following are true:

  • localization is initialized,
  • route is set,
  • Autoware control is enabled,

it performs the following actions only when enable_autoware_ready_actions=true:

  1. set_aggregator_initializing(false)
  2. reset_redundancy_switcher() (skipped, treated as success, when is_redundant=false)
  3. set_redundancy_switcher_interface_initializing(false) (skipped, treated as success, when is_redundant=false)

If the system is still initializing and not yet ready, a 5-second periodic timer retries reset_redundancy_switcher().

Inputs / Outputs

Input Service

Topic Type Description
~/input/reset_mrm tier4_external_api_msgs::srv::ResetMrm External MRM reset request

Input Subscriptions

Topic Type Description
~/input/localization_initialization_state autoware_adapi_v1_msgs::msg::LocalizationInitializationState Localization readiness
~/input/route_state autoware_adapi_v1_msgs::msg::RouteState Route readiness
~/input/operation_mode_state autoware_adapi_v1_msgs::msg::OperationModeState Autoware control state

Output Service Clients

Topic Type Description
~/output/reset_diag_graph tier4_system_msgs::srv::ResetDiagGraph Resets diagnostics graph
~/output/reset_redundancy_switcher tier4_system_msgs::srv::ResetRedundancySwitcher Resets redundancy switcher
~/output/set_aggregator_initializing std_srvs::srv::SetBool Sets aggregator initializing flag
~/output/set_redundancy_switcher_interface_initializing std_srvs::srv::SetBool Sets switcher-interface initializing flag

Parameters

Name Type Default Description
service_timeout_ms int 200 Timeout for each service call
is_redundant bool true Enables redundancy-switcher orchestration (reset_redundancy_switcher and set_redundancy_switcher_interface_initializing calls, and waiting for their services at startup). When false, these calls are skipped and treated as success.
enable_autoware_ready_actions bool true Enables service calls triggered by Autoware-ready conditions (localization initialized, route set, Autoware control enabled).

Launch

Launch file:

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_mrm_reset_manager

0.53.0 (2026-09-29)

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

  • feat: add mrm reset manager (#12746)

    • feat(autoware_mrm_reset_manager): add MRM reset manager node
    • fix: codescene
    • fix: codescene
    • fix: service compatibility

    * fix(autoware_mrm_reset_manager): guard switcher interface init when non-redundant set_redundancy_switcher_interface_initializing() was called unconditionally during init and on the ready-state transition, even though its service is only expected to exist when is_redundant is true (are_required_services_ready already skips waiting for it otherwise). On a non-redundant configuration the call would time out every tick, so the init state machine never reached DONE and the aggregator initializing flag (diag graph latch) was never cleared. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * fix(autoware_mrm_reset_manager): keep periodic reset until actually ready on_periodic_reset_check() gated the periodic reset_redundancy_switcher retry on is_autoware_ready(), which only checks whether the localization/route/operation_mode topics have been received at least once, not their actual values. Once all three arrived (even while still uninitialized/unset/not-in-autonomous-control), the periodic reset stopped firing and never resumed, even though the system was not actually ready to leave the initializing phase. Gate on is_ready_for_operation() as well, so the reset keeps being requested every tick until localization is initialized, the route is set, and autonomous control is enabled. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * docs(autoware_mrm_reset_manager): note is_redundant skips switcher-interface calls too The is_redundant parameter description and the init/ready-state sections only mentioned reset_redundancy_switcher being skipped when is_redundant=false, not set_redundancy_switcher_interface_initializing. Now that the latter is guarded the same way, document both. Co-Authored-By: Claude Sonnet 5 <<noreply@anthropic.com>>

    * style(pre-commit): autofix ---------Co-authored-by: Claude Sonnet 5 <<noreply@anthropic.com>> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • Contributors: Ryohsuke Mitsudome, Tetsuhiro Kawaguchi

Launch files

  • launch/mrm_reset_manager.launch.xml
      • is_redundant [default: true]
      • enable_autoware_ready_actions [default: true]
      • mrm_reset_manager_param_file [default: $(find-pkg-share autoware_mrm_reset_manager)/config/mrm_reset_manager.param.yaml]
      • input_reset_mrm [default: /system/mrm/reset]
      • input_localization_initialization_state [default: /api/localization/initialization_state]
      • input_route_state [default: /api/routing/state]
      • input_operation_mode_state [default: /api/operation_mode/state]
      • output_reset_diag_graph [default: /diagnostics_graph/reset]
      • output_reset_redundancy_switcher [default: /system/redundancy_switcher/reset]
      • output_set_aggregator_initializing [default: /system/aggregator/set_initializing]
      • output_set_redundancy_switcher_interface_initializing [default: /system/redundancy_switcher_interface/set_initializing]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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