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autoware_operation_mode_transition_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_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_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_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_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_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	2026-10-26
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The operation_mode_transition_manager package

Maintainers

Takagi, Isamu
Taiki Yamada

Authors

Takamasa Horibe

control/autoware_operation_mode_transition_manager/README.md

autoware_operation_mode_transition_manager

Note

The state management functionality of this package is currently being moved to the command_mode_decider package. When used with the command_mode_decider package, this package is only responsible for determining transition conditions. Also, the data status, in_autoware_control, and in_transition contained in the debug topic is not available, so use the /system/command_mode_decider/debug topic instead.

in_autoware_control: True when the current command mode is manual mode (default value 1000).
in_transition: See the is_in_transition function in the command_mode_decider package.
status:
- If in_autoware_control, DISENGAGE (autoware mode = curr_mode)
- Else if in_transition, curr_mode (in transition from prev_mode)
- Else curr_mode
- Note: curr_mode = current operation mode and prev_mode = last operation mode

Purpose / Use cases

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

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

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

Features

Transit mode between Autonomous, Local, Remote and Stop based on the indication command.
Check whether the each transition is available (safe or not).
Limit some sudden motion control in In Transition mode (this is done with vehicle_cmd_gate feature).
Check whether the transition is completed.
Transition between the Autonomous, Local, Remote, and Stop modes based on the indicated command.
Determine whether each transition is safe to execute.
Restrict certain sudden motion controls during the In Transition mode (using the vehicle_cmd_gate feature).
Verify that the transition is complete.

Design

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

transition_rough_structure

A more detailed structure is below.

transition_detailed_structure

Here we see that autoware_operation_mode_transition_manager has multiple state transitions as follows

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

Inputs / Outputs / API

Inputs

For the mode transition:

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

For the transition availability/completion check:

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

For the backward compatibility (to be removed):

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

Outputs

/system/operation_mode/state [autoware_adapi_v1_msgs/msg/OperationModeState]: to inform the current operation mode
/control/autoware_operation_mode_transition_manager/debug_info [autoware_operation_mode_transition_manager/msg/OperationModeTransitionManagerDebug]: detailed information about the operation mode transition
/control/gate_mode_cmd [tier4_control_msgs/msg/GateMode]: to change the vehicle_cmd_gate state to use its features (to be removed)
/autoware/engage [autoware_vehicle_msgs/msg/Engage]:
/control/control_mode_request [autoware_vehicle_msgs/srv/ControlModeCommand]: to change the vehicle control mode (autonomous/manual)
/control/external_cmd_selector/select_external_command [tier4_control_msgs/srv/ExternalCommandSelect]:

Parameters

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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_operation_mode_transition_manager

0.53.0 (2026-09-29)

Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
fix(design): align the control node designs with the packages they describe (#13340)

* fix(design): align the control node designs with the packages they describe ControlCommandGate and the operation mode transition manager name a plugin class and pin publishers that do not match the built package: the registered component is ControlCmdGate, and the transition flags belong on the design graph rather than on global: pins that link_manager skips. TrajectoryFollower declares three debug publishers with message types the node never publishes and a stop_reason publisher it does not create at all. VehicleCmdGate keeps gate_mode and engage on their official topic names through remap_target: alone, so the two inputs are connected through the design.

* fix(autoware_operation_mode_transition_manager): declare the system and legacy interfaces as remap targets The operation mode state publisher, the two operation mode change services and the legacy engage and gate mode publishers are node-side fixed names. Declaring them as remap targets puts them on the design graph; a port pinned with global: is skipped by link_manager and the exporter emits no remap for it. ---------
feat(operation_mode_transition_manager): add driving mode interface (#13251)
fix(control): declare the fixed-name compatibility interfaces in the control node designs (#13281)

* fix(control): declare the fixed-name compatibility interfaces in the control node designs operation_mode_transition_manager subscribes /control/current_gate_mode and /control/external_cmd_selector/current_selector_mode and calls /control/external_cmd_selector/select_external_command by fixed name; the gate serves the ADAPI pause/stop interfaces under /control/vehicle_cmd_gate. Declaring these ports with their remap_target lets a system design connect them and keep the fixed names when the module hierarchy nests the nodes.

* fix(control): declare the multi-publisher gate_mode_cmd and engage topics as global ---------
refactor(control): move node design files into each package (#13100) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
fix(operation_mode_transition_manager): fix missing dependncy (#13066)
Contributors: Ryohsuke Mitsudome, Taekjin LEE, Takagi, Isamu

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: organize maintainer (#12150)
Contributors: Satoshi OTA, github-actions

0.50.0 (2026-02-14)

0.49.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
fix(operation_mode_transition_manager): fix debug value update (#11664)
- fix debug value update
- fix format
* cppcheck ---------
Contributors: Ryohsuke Mitsudome, Takagi, Isamu

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
fix(operation_mode_transition_manager): modify the autonomous mode condition (#11603)
- fix(operation_mode_transition_manager): modify the autonomous mode condition
- fix: passing clang-format
- fix: passing clang-format 2
- fix: add getcurrentmode function
docs: add document of mode transition debug topic

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	autoware_cmake
	rosidl_default_runtime
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_component_interface_specs_universe
	autoware_component_interface_utils
	autoware_control_msgs
	autoware_motion_utils
	autoware_system_msgs
	autoware_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	autoware_vehicle_msgs
	diagnostic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	std_srvs
	tier4_control_msgs
	tier4_system_msgs
	tier4_vehicle_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

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

Messages

OperationModeTransitionManagerDebug [Source]

Services

No service files found

Plugins

No plugins found.

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autoware_operation_mode_transition_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_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_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_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_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_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	2026-10-26
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The operation_mode_transition_manager package

Maintainers

Takagi, Isamu
Taiki Yamada

Authors

Takamasa Horibe

control/autoware_operation_mode_transition_manager/README.md

autoware_operation_mode_transition_manager

Note

The state management functionality of this package is currently being moved to the command_mode_decider package. When used with the command_mode_decider package, this package is only responsible for determining transition conditions. Also, the data status, in_autoware_control, and in_transition contained in the debug topic is not available, so use the /system/command_mode_decider/debug topic instead.

in_autoware_control: True when the current command mode is manual mode (default value 1000).
in_transition: See the is_in_transition function in the command_mode_decider package.
status:
- If in_autoware_control, DISENGAGE (autoware mode = curr_mode)
- Else if in_transition, curr_mode (in transition from prev_mode)
- Else curr_mode
- Note: curr_mode = current operation mode and prev_mode = last operation mode

Purpose / Use cases

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

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

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

Features

Transit mode between Autonomous, Local, Remote and Stop based on the indication command.
Check whether the each transition is available (safe or not).
Limit some sudden motion control in In Transition mode (this is done with vehicle_cmd_gate feature).
Check whether the transition is completed.
Transition between the Autonomous, Local, Remote, and Stop modes based on the indicated command.
Determine whether each transition is safe to execute.
Restrict certain sudden motion controls during the In Transition mode (using the vehicle_cmd_gate feature).
Verify that the transition is complete.

Design

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

transition_rough_structure

A more detailed structure is below.

transition_detailed_structure

Here we see that autoware_operation_mode_transition_manager has multiple state transitions as follows

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

Inputs / Outputs / API

Inputs

For the mode transition:

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

For the transition availability/completion check:

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

For the backward compatibility (to be removed):

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

Outputs

/system/operation_mode/state [autoware_adapi_v1_msgs/msg/OperationModeState]: to inform the current operation mode
/control/autoware_operation_mode_transition_manager/debug_info [autoware_operation_mode_transition_manager/msg/OperationModeTransitionManagerDebug]: detailed information about the operation mode transition
/control/gate_mode_cmd [tier4_control_msgs/msg/GateMode]: to change the vehicle_cmd_gate state to use its features (to be removed)
/autoware/engage [autoware_vehicle_msgs/msg/Engage]:
/control/control_mode_request [autoware_vehicle_msgs/srv/ControlModeCommand]: to change the vehicle control mode (autonomous/manual)
/control/external_cmd_selector/select_external_command [tier4_control_msgs/srv/ExternalCommandSelect]:

Parameters

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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_operation_mode_transition_manager

0.53.0 (2026-09-29)

Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
fix(design): align the control node designs with the packages they describe (#13340)

* fix(design): align the control node designs with the packages they describe ControlCommandGate and the operation mode transition manager name a plugin class and pin publishers that do not match the built package: the registered component is ControlCmdGate, and the transition flags belong on the design graph rather than on global: pins that link_manager skips. TrajectoryFollower declares three debug publishers with message types the node never publishes and a stop_reason publisher it does not create at all. VehicleCmdGate keeps gate_mode and engage on their official topic names through remap_target: alone, so the two inputs are connected through the design.

* fix(autoware_operation_mode_transition_manager): declare the system and legacy interfaces as remap targets The operation mode state publisher, the two operation mode change services and the legacy engage and gate mode publishers are node-side fixed names. Declaring them as remap targets puts them on the design graph; a port pinned with global: is skipped by link_manager and the exporter emits no remap for it. ---------
feat(operation_mode_transition_manager): add driving mode interface (#13251)
fix(control): declare the fixed-name compatibility interfaces in the control node designs (#13281)

* fix(control): declare the fixed-name compatibility interfaces in the control node designs operation_mode_transition_manager subscribes /control/current_gate_mode and /control/external_cmd_selector/current_selector_mode and calls /control/external_cmd_selector/select_external_command by fixed name; the gate serves the ADAPI pause/stop interfaces under /control/vehicle_cmd_gate. Declaring these ports with their remap_target lets a system design connect them and keep the fixed names when the module hierarchy nests the nodes.

* fix(control): declare the multi-publisher gate_mode_cmd and engage topics as global ---------
refactor(control): move node design files into each package (#13100) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
fix(operation_mode_transition_manager): fix missing dependncy (#13066)
Contributors: Ryohsuke Mitsudome, Taekjin LEE, Takagi, Isamu

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: organize maintainer (#12150)
Contributors: Satoshi OTA, github-actions

0.50.0 (2026-02-14)

0.49.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
fix(operation_mode_transition_manager): fix debug value update (#11664)
- fix debug value update
- fix format
* cppcheck ---------
Contributors: Ryohsuke Mitsudome, Takagi, Isamu

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
fix(operation_mode_transition_manager): modify the autonomous mode condition (#11603)
- fix(operation_mode_transition_manager): modify the autonomous mode condition
- fix: passing clang-format
- fix: passing clang-format 2
- fix: add getcurrentmode function
docs: add document of mode transition debug topic

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	autoware_cmake
	rosidl_default_runtime
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_component_interface_specs_universe
	autoware_component_interface_utils
	autoware_control_msgs
	autoware_motion_utils
	autoware_system_msgs
	autoware_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	autoware_vehicle_msgs
	diagnostic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	std_srvs
	tier4_control_msgs
	tier4_system_msgs
	tier4_vehicle_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

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

Messages

OperationModeTransitionManagerDebug [Source]

Services

No service files found

Plugins

No plugins found.

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autoware_operation_mode_transition_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_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_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_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_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_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	2026-10-26
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The operation_mode_transition_manager package

Maintainers

Takagi, Isamu
Taiki Yamada

Authors

Takamasa Horibe

control/autoware_operation_mode_transition_manager/README.md

autoware_operation_mode_transition_manager

Note

The state management functionality of this package is currently being moved to the command_mode_decider package. When used with the command_mode_decider package, this package is only responsible for determining transition conditions. Also, the data status, in_autoware_control, and in_transition contained in the debug topic is not available, so use the /system/command_mode_decider/debug topic instead.

in_autoware_control: True when the current command mode is manual mode (default value 1000).
in_transition: See the is_in_transition function in the command_mode_decider package.
status:
- If in_autoware_control, DISENGAGE (autoware mode = curr_mode)
- Else if in_transition, curr_mode (in transition from prev_mode)
- Else curr_mode
- Note: curr_mode = current operation mode and prev_mode = last operation mode

Purpose / Use cases

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

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

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

Features

Transit mode between Autonomous, Local, Remote and Stop based on the indication command.
Check whether the each transition is available (safe or not).
Limit some sudden motion control in In Transition mode (this is done with vehicle_cmd_gate feature).
Check whether the transition is completed.
Transition between the Autonomous, Local, Remote, and Stop modes based on the indicated command.
Determine whether each transition is safe to execute.
Restrict certain sudden motion controls during the In Transition mode (using the vehicle_cmd_gate feature).
Verify that the transition is complete.

Design

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

transition_rough_structure

A more detailed structure is below.

transition_detailed_structure

Here we see that autoware_operation_mode_transition_manager has multiple state transitions as follows

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

Inputs / Outputs / API

Inputs

For the mode transition:

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

For the transition availability/completion check:

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

For the backward compatibility (to be removed):

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

Outputs

/system/operation_mode/state [autoware_adapi_v1_msgs/msg/OperationModeState]: to inform the current operation mode
/control/autoware_operation_mode_transition_manager/debug_info [autoware_operation_mode_transition_manager/msg/OperationModeTransitionManagerDebug]: detailed information about the operation mode transition
/control/gate_mode_cmd [tier4_control_msgs/msg/GateMode]: to change the vehicle_cmd_gate state to use its features (to be removed)
/autoware/engage [autoware_vehicle_msgs/msg/Engage]:
/control/control_mode_request [autoware_vehicle_msgs/srv/ControlModeCommand]: to change the vehicle control mode (autonomous/manual)
/control/external_cmd_selector/select_external_command [tier4_control_msgs/srv/ExternalCommandSelect]:

Parameters

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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_operation_mode_transition_manager

0.53.0 (2026-09-29)

Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
fix(design): align the control node designs with the packages they describe (#13340)

* fix(design): align the control node designs with the packages they describe ControlCommandGate and the operation mode transition manager name a plugin class and pin publishers that do not match the built package: the registered component is ControlCmdGate, and the transition flags belong on the design graph rather than on global: pins that link_manager skips. TrajectoryFollower declares three debug publishers with message types the node never publishes and a stop_reason publisher it does not create at all. VehicleCmdGate keeps gate_mode and engage on their official topic names through remap_target: alone, so the two inputs are connected through the design.

* fix(autoware_operation_mode_transition_manager): declare the system and legacy interfaces as remap targets The operation mode state publisher, the two operation mode change services and the legacy engage and gate mode publishers are node-side fixed names. Declaring them as remap targets puts them on the design graph; a port pinned with global: is skipped by link_manager and the exporter emits no remap for it. ---------
feat(operation_mode_transition_manager): add driving mode interface (#13251)
fix(control): declare the fixed-name compatibility interfaces in the control node designs (#13281)

* fix(control): declare the fixed-name compatibility interfaces in the control node designs operation_mode_transition_manager subscribes /control/current_gate_mode and /control/external_cmd_selector/current_selector_mode and calls /control/external_cmd_selector/select_external_command by fixed name; the gate serves the ADAPI pause/stop interfaces under /control/vehicle_cmd_gate. Declaring these ports with their remap_target lets a system design connect them and keep the fixed names when the module hierarchy nests the nodes.

* fix(control): declare the multi-publisher gate_mode_cmd and engage topics as global ---------
refactor(control): move node design files into each package (#13100) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
fix(operation_mode_transition_manager): fix missing dependncy (#13066)
Contributors: Ryohsuke Mitsudome, Taekjin LEE, Takagi, Isamu

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: organize maintainer (#12150)
Contributors: Satoshi OTA, github-actions

0.50.0 (2026-02-14)

0.49.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
fix(operation_mode_transition_manager): fix debug value update (#11664)
- fix debug value update
- fix format
* cppcheck ---------
Contributors: Ryohsuke Mitsudome, Takagi, Isamu

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
fix(operation_mode_transition_manager): modify the autonomous mode condition (#11603)
- fix(operation_mode_transition_manager): modify the autonomous mode condition
- fix: passing clang-format
- fix: passing clang-format 2
- fix: add getcurrentmode function
docs: add document of mode transition debug topic

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	autoware_cmake
	rosidl_default_runtime
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_component_interface_specs_universe
	autoware_component_interface_utils
	autoware_control_msgs
	autoware_motion_utils
	autoware_system_msgs
	autoware_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	autoware_vehicle_msgs
	diagnostic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	std_srvs
	tier4_control_msgs
	tier4_system_msgs
	tier4_vehicle_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

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

Messages

OperationModeTransitionManagerDebug [Source]

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_operation_mode_transition_manager` at Robotics Stack Exchange

API Docs Browse Code

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autoware_operation_mode_transition_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_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_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_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_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_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	2026-10-26
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The operation_mode_transition_manager package

Maintainers

Takagi, Isamu
Taiki Yamada

Authors

Takamasa Horibe

control/autoware_operation_mode_transition_manager/README.md

autoware_operation_mode_transition_manager

Note

The state management functionality of this package is currently being moved to the command_mode_decider package. When used with the command_mode_decider package, this package is only responsible for determining transition conditions. Also, the data status, in_autoware_control, and in_transition contained in the debug topic is not available, so use the /system/command_mode_decider/debug topic instead.

in_autoware_control: True when the current command mode is manual mode (default value 1000).
in_transition: See the is_in_transition function in the command_mode_decider package.
status:
- If in_autoware_control, DISENGAGE (autoware mode = curr_mode)
- Else if in_transition, curr_mode (in transition from prev_mode)
- Else curr_mode
- Note: curr_mode = current operation mode and prev_mode = last operation mode

Purpose / Use cases

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

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

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

Features

Transit mode between Autonomous, Local, Remote and Stop based on the indication command.
Check whether the each transition is available (safe or not).
Limit some sudden motion control in In Transition mode (this is done with vehicle_cmd_gate feature).
Check whether the transition is completed.
Transition between the Autonomous, Local, Remote, and Stop modes based on the indicated command.
Determine whether each transition is safe to execute.
Restrict certain sudden motion controls during the In Transition mode (using the vehicle_cmd_gate feature).
Verify that the transition is complete.

Design

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

transition_rough_structure

A more detailed structure is below.

transition_detailed_structure

Here we see that autoware_operation_mode_transition_manager has multiple state transitions as follows

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

Inputs / Outputs / API

Inputs

For the mode transition:

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

For the transition availability/completion check:

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

For the backward compatibility (to be removed):

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

Outputs

/system/operation_mode/state [autoware_adapi_v1_msgs/msg/OperationModeState]: to inform the current operation mode
/control/autoware_operation_mode_transition_manager/debug_info [autoware_operation_mode_transition_manager/msg/OperationModeTransitionManagerDebug]: detailed information about the operation mode transition
/control/gate_mode_cmd [tier4_control_msgs/msg/GateMode]: to change the vehicle_cmd_gate state to use its features (to be removed)
/autoware/engage [autoware_vehicle_msgs/msg/Engage]:
/control/control_mode_request [autoware_vehicle_msgs/srv/ControlModeCommand]: to change the vehicle control mode (autonomous/manual)
/control/external_cmd_selector/select_external_command [tier4_control_msgs/srv/ExternalCommandSelect]:

Parameters

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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_operation_mode_transition_manager

0.53.0 (2026-09-29)

Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
fix(design): align the control node designs with the packages they describe (#13340)

* fix(design): align the control node designs with the packages they describe ControlCommandGate and the operation mode transition manager name a plugin class and pin publishers that do not match the built package: the registered component is ControlCmdGate, and the transition flags belong on the design graph rather than on global: pins that link_manager skips. TrajectoryFollower declares three debug publishers with message types the node never publishes and a stop_reason publisher it does not create at all. VehicleCmdGate keeps gate_mode and engage on their official topic names through remap_target: alone, so the two inputs are connected through the design.

* fix(autoware_operation_mode_transition_manager): declare the system and legacy interfaces as remap targets The operation mode state publisher, the two operation mode change services and the legacy engage and gate mode publishers are node-side fixed names. Declaring them as remap targets puts them on the design graph; a port pinned with global: is skipped by link_manager and the exporter emits no remap for it. ---------
feat(operation_mode_transition_manager): add driving mode interface (#13251)
fix(control): declare the fixed-name compatibility interfaces in the control node designs (#13281)

* fix(control): declare the fixed-name compatibility interfaces in the control node designs operation_mode_transition_manager subscribes /control/current_gate_mode and /control/external_cmd_selector/current_selector_mode and calls /control/external_cmd_selector/select_external_command by fixed name; the gate serves the ADAPI pause/stop interfaces under /control/vehicle_cmd_gate. Declaring these ports with their remap_target lets a system design connect them and keep the fixed names when the module hierarchy nests the nodes.

* fix(control): declare the multi-publisher gate_mode_cmd and engage topics as global ---------
refactor(control): move node design files into each package (#13100) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
fix(operation_mode_transition_manager): fix missing dependncy (#13066)
Contributors: Ryohsuke Mitsudome, Taekjin LEE, Takagi, Isamu

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: organize maintainer (#12150)
Contributors: Satoshi OTA, github-actions

0.50.0 (2026-02-14)

0.49.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
fix(operation_mode_transition_manager): fix debug value update (#11664)
- fix debug value update
- fix format
* cppcheck ---------
Contributors: Ryohsuke Mitsudome, Takagi, Isamu

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
fix(operation_mode_transition_manager): modify the autonomous mode condition (#11603)
- fix(operation_mode_transition_manager): modify the autonomous mode condition
- fix: passing clang-format
- fix: passing clang-format 2
- fix: add getcurrentmode function
docs: add document of mode transition debug topic

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	autoware_cmake
	rosidl_default_runtime
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_component_interface_specs_universe
	autoware_component_interface_utils
	autoware_control_msgs
	autoware_motion_utils
	autoware_system_msgs
	autoware_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	autoware_vehicle_msgs
	diagnostic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	std_srvs
	tier4_control_msgs
	tier4_system_msgs
	tier4_vehicle_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

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

Messages

OperationModeTransitionManagerDebug [Source]

Services

No service files found

Plugins

No plugins found.

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autoware_operation_mode_transition_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_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_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_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_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_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	2026-10-26
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The operation_mode_transition_manager package

Maintainers

Takagi, Isamu
Taiki Yamada

Authors

Takamasa Horibe

control/autoware_operation_mode_transition_manager/README.md

autoware_operation_mode_transition_manager

Note

The state management functionality of this package is currently being moved to the command_mode_decider package. When used with the command_mode_decider package, this package is only responsible for determining transition conditions. Also, the data status, in_autoware_control, and in_transition contained in the debug topic is not available, so use the /system/command_mode_decider/debug topic instead.

in_autoware_control: True when the current command mode is manual mode (default value 1000).
in_transition: See the is_in_transition function in the command_mode_decider package.
status:
- If in_autoware_control, DISENGAGE (autoware mode = curr_mode)
- Else if in_transition, curr_mode (in transition from prev_mode)
- Else curr_mode
- Note: curr_mode = current operation mode and prev_mode = last operation mode

Purpose / Use cases

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

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

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

Features

Transit mode between Autonomous, Local, Remote and Stop based on the indication command.
Check whether the each transition is available (safe or not).
Limit some sudden motion control in In Transition mode (this is done with vehicle_cmd_gate feature).
Check whether the transition is completed.
Transition between the Autonomous, Local, Remote, and Stop modes based on the indicated command.
Determine whether each transition is safe to execute.
Restrict certain sudden motion controls during the In Transition mode (using the vehicle_cmd_gate feature).
Verify that the transition is complete.

Design

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

transition_rough_structure

A more detailed structure is below.

transition_detailed_structure

Here we see that autoware_operation_mode_transition_manager has multiple state transitions as follows

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

Inputs / Outputs / API

Inputs

For the mode transition:

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

For the transition availability/completion check:

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

For the backward compatibility (to be removed):

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

Outputs

/system/operation_mode/state [autoware_adapi_v1_msgs/msg/OperationModeState]: to inform the current operation mode
/control/autoware_operation_mode_transition_manager/debug_info [autoware_operation_mode_transition_manager/msg/OperationModeTransitionManagerDebug]: detailed information about the operation mode transition
/control/gate_mode_cmd [tier4_control_msgs/msg/GateMode]: to change the vehicle_cmd_gate state to use its features (to be removed)
/autoware/engage [autoware_vehicle_msgs/msg/Engage]:
/control/control_mode_request [autoware_vehicle_msgs/srv/ControlModeCommand]: to change the vehicle control mode (autonomous/manual)
/control/external_cmd_selector/select_external_command [tier4_control_msgs/srv/ExternalCommandSelect]:

Parameters

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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_operation_mode_transition_manager

0.53.0 (2026-09-29)

Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
fix(design): align the control node designs with the packages they describe (#13340)

* fix(design): align the control node designs with the packages they describe ControlCommandGate and the operation mode transition manager name a plugin class and pin publishers that do not match the built package: the registered component is ControlCmdGate, and the transition flags belong on the design graph rather than on global: pins that link_manager skips. TrajectoryFollower declares three debug publishers with message types the node never publishes and a stop_reason publisher it does not create at all. VehicleCmdGate keeps gate_mode and engage on their official topic names through remap_target: alone, so the two inputs are connected through the design.

* fix(autoware_operation_mode_transition_manager): declare the system and legacy interfaces as remap targets The operation mode state publisher, the two operation mode change services and the legacy engage and gate mode publishers are node-side fixed names. Declaring them as remap targets puts them on the design graph; a port pinned with global: is skipped by link_manager and the exporter emits no remap for it. ---------
feat(operation_mode_transition_manager): add driving mode interface (#13251)
fix(control): declare the fixed-name compatibility interfaces in the control node designs (#13281)

* fix(control): declare the fixed-name compatibility interfaces in the control node designs operation_mode_transition_manager subscribes /control/current_gate_mode and /control/external_cmd_selector/current_selector_mode and calls /control/external_cmd_selector/select_external_command by fixed name; the gate serves the ADAPI pause/stop interfaces under /control/vehicle_cmd_gate. Declaring these ports with their remap_target lets a system design connect them and keep the fixed names when the module hierarchy nests the nodes.

* fix(control): declare the multi-publisher gate_mode_cmd and engage topics as global ---------
refactor(control): move node design files into each package (#13100) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
fix(operation_mode_transition_manager): fix missing dependncy (#13066)
Contributors: Ryohsuke Mitsudome, Taekjin LEE, Takagi, Isamu

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: organize maintainer (#12150)
Contributors: Satoshi OTA, github-actions

0.50.0 (2026-02-14)

0.49.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
fix(operation_mode_transition_manager): fix debug value update (#11664)
- fix debug value update
- fix format
* cppcheck ---------
Contributors: Ryohsuke Mitsudome, Takagi, Isamu

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
fix(operation_mode_transition_manager): modify the autonomous mode condition (#11603)
- fix(operation_mode_transition_manager): modify the autonomous mode condition
- fix: passing clang-format
- fix: passing clang-format 2
- fix: add getcurrentmode function
docs: add document of mode transition debug topic

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	autoware_cmake
	rosidl_default_runtime
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_component_interface_specs_universe
	autoware_component_interface_utils
	autoware_control_msgs
	autoware_motion_utils
	autoware_system_msgs
	autoware_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	autoware_vehicle_msgs
	diagnostic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	std_srvs
	tier4_control_msgs
	tier4_system_msgs
	tier4_vehicle_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

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

Messages

OperationModeTransitionManagerDebug [Source]

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_operation_mode_transition_manager` at Robotics Stack Exchange

API Docs Browse Code

autoware_operation_mode_transition_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_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_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_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_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_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	2026-10-26
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The operation_mode_transition_manager package

Maintainers

Takagi, Isamu
Taiki Yamada

Authors

Takamasa Horibe

control/autoware_operation_mode_transition_manager/README.md

autoware_operation_mode_transition_manager

Note

The state management functionality of this package is currently being moved to the command_mode_decider package. When used with the command_mode_decider package, this package is only responsible for determining transition conditions. Also, the data status, in_autoware_control, and in_transition contained in the debug topic is not available, so use the /system/command_mode_decider/debug topic instead.

in_autoware_control: True when the current command mode is manual mode (default value 1000).
in_transition: See the is_in_transition function in the command_mode_decider package.
status:
- If in_autoware_control, DISENGAGE (autoware mode = curr_mode)
- Else if in_transition, curr_mode (in transition from prev_mode)
- Else curr_mode
- Note: curr_mode = current operation mode and prev_mode = last operation mode

Purpose / Use cases

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

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

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

Features

Transit mode between Autonomous, Local, Remote and Stop based on the indication command.
Check whether the each transition is available (safe or not).
Limit some sudden motion control in In Transition mode (this is done with vehicle_cmd_gate feature).
Check whether the transition is completed.
Transition between the Autonomous, Local, Remote, and Stop modes based on the indicated command.
Determine whether each transition is safe to execute.
Restrict certain sudden motion controls during the In Transition mode (using the vehicle_cmd_gate feature).
Verify that the transition is complete.

Design

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

transition_rough_structure

A more detailed structure is below.

transition_detailed_structure

Here we see that autoware_operation_mode_transition_manager has multiple state transitions as follows

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

Inputs / Outputs / API

Inputs

For the mode transition:

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

For the transition availability/completion check:

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

For the backward compatibility (to be removed):

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

Outputs

/system/operation_mode/state [autoware_adapi_v1_msgs/msg/OperationModeState]: to inform the current operation mode
/control/autoware_operation_mode_transition_manager/debug_info [autoware_operation_mode_transition_manager/msg/OperationModeTransitionManagerDebug]: detailed information about the operation mode transition
/control/gate_mode_cmd [tier4_control_msgs/msg/GateMode]: to change the vehicle_cmd_gate state to use its features (to be removed)
/autoware/engage [autoware_vehicle_msgs/msg/Engage]:
/control/control_mode_request [autoware_vehicle_msgs/srv/ControlModeCommand]: to change the vehicle control mode (autonomous/manual)
/control/external_cmd_selector/select_external_command [tier4_control_msgs/srv/ExternalCommandSelect]:

Parameters

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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_operation_mode_transition_manager

0.53.0 (2026-09-29)

Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
fix(design): align the control node designs with the packages they describe (#13340)

* fix(design): align the control node designs with the packages they describe ControlCommandGate and the operation mode transition manager name a plugin class and pin publishers that do not match the built package: the registered component is ControlCmdGate, and the transition flags belong on the design graph rather than on global: pins that link_manager skips. TrajectoryFollower declares three debug publishers with message types the node never publishes and a stop_reason publisher it does not create at all. VehicleCmdGate keeps gate_mode and engage on their official topic names through remap_target: alone, so the two inputs are connected through the design.

* fix(autoware_operation_mode_transition_manager): declare the system and legacy interfaces as remap targets The operation mode state publisher, the two operation mode change services and the legacy engage and gate mode publishers are node-side fixed names. Declaring them as remap targets puts them on the design graph; a port pinned with global: is skipped by link_manager and the exporter emits no remap for it. ---------
feat(operation_mode_transition_manager): add driving mode interface (#13251)
fix(control): declare the fixed-name compatibility interfaces in the control node designs (#13281)

* fix(control): declare the fixed-name compatibility interfaces in the control node designs operation_mode_transition_manager subscribes /control/current_gate_mode and /control/external_cmd_selector/current_selector_mode and calls /control/external_cmd_selector/select_external_command by fixed name; the gate serves the ADAPI pause/stop interfaces under /control/vehicle_cmd_gate. Declaring these ports with their remap_target lets a system design connect them and keep the fixed names when the module hierarchy nests the nodes.

* fix(control): declare the multi-publisher gate_mode_cmd and engage topics as global ---------
refactor(control): move node design files into each package (#13100) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
fix(operation_mode_transition_manager): fix missing dependncy (#13066)
Contributors: Ryohsuke Mitsudome, Taekjin LEE, Takagi, Isamu

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: organize maintainer (#12150)
Contributors: Satoshi OTA, github-actions

0.50.0 (2026-02-14)

0.49.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
fix(operation_mode_transition_manager): fix debug value update (#11664)
- fix debug value update
- fix format
* cppcheck ---------
Contributors: Ryohsuke Mitsudome, Takagi, Isamu

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
fix(operation_mode_transition_manager): modify the autonomous mode condition (#11603)
- fix(operation_mode_transition_manager): modify the autonomous mode condition
- fix: passing clang-format
- fix: passing clang-format 2
- fix: add getcurrentmode function
docs: add document of mode transition debug topic

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	autoware_cmake
	rosidl_default_runtime
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_component_interface_specs_universe
	autoware_component_interface_utils
	autoware_control_msgs
	autoware_motion_utils
	autoware_system_msgs
	autoware_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	autoware_vehicle_msgs
	diagnostic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	std_srvs
	tier4_control_msgs
	tier4_system_msgs
	tier4_vehicle_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

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

Messages

OperationModeTransitionManagerDebug [Source]

Services

No service files found

Plugins

No plugins found.

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autoware_operation_mode_transition_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_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_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_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_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_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	2026-10-26
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The operation_mode_transition_manager package

Maintainers

Takagi, Isamu
Taiki Yamada

Authors

Takamasa Horibe

control/autoware_operation_mode_transition_manager/README.md

autoware_operation_mode_transition_manager

Note

The state management functionality of this package is currently being moved to the command_mode_decider package. When used with the command_mode_decider package, this package is only responsible for determining transition conditions. Also, the data status, in_autoware_control, and in_transition contained in the debug topic is not available, so use the /system/command_mode_decider/debug topic instead.

in_autoware_control: True when the current command mode is manual mode (default value 1000).
in_transition: See the is_in_transition function in the command_mode_decider package.
status:
- If in_autoware_control, DISENGAGE (autoware mode = curr_mode)
- Else if in_transition, curr_mode (in transition from prev_mode)
- Else curr_mode
- Note: curr_mode = current operation mode and prev_mode = last operation mode

Purpose / Use cases

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

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

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

Features

Transit mode between Autonomous, Local, Remote and Stop based on the indication command.
Check whether the each transition is available (safe or not).
Limit some sudden motion control in In Transition mode (this is done with vehicle_cmd_gate feature).
Check whether the transition is completed.
Transition between the Autonomous, Local, Remote, and Stop modes based on the indicated command.
Determine whether each transition is safe to execute.
Restrict certain sudden motion controls during the In Transition mode (using the vehicle_cmd_gate feature).
Verify that the transition is complete.

Design

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

transition_rough_structure

A more detailed structure is below.

transition_detailed_structure

Here we see that autoware_operation_mode_transition_manager has multiple state transitions as follows

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

Inputs / Outputs / API

Inputs

For the mode transition:

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

For the transition availability/completion check:

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

For the backward compatibility (to be removed):

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

Outputs

/system/operation_mode/state [autoware_adapi_v1_msgs/msg/OperationModeState]: to inform the current operation mode
/control/autoware_operation_mode_transition_manager/debug_info [autoware_operation_mode_transition_manager/msg/OperationModeTransitionManagerDebug]: detailed information about the operation mode transition
/control/gate_mode_cmd [tier4_control_msgs/msg/GateMode]: to change the vehicle_cmd_gate state to use its features (to be removed)
/autoware/engage [autoware_vehicle_msgs/msg/Engage]:
/control/control_mode_request [autoware_vehicle_msgs/srv/ControlModeCommand]: to change the vehicle control mode (autonomous/manual)
/control/external_cmd_selector/select_external_command [tier4_control_msgs/srv/ExternalCommandSelect]:

Parameters

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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_operation_mode_transition_manager

0.53.0 (2026-09-29)

Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
fix(design): align the control node designs with the packages they describe (#13340)

* fix(design): align the control node designs with the packages they describe ControlCommandGate and the operation mode transition manager name a plugin class and pin publishers that do not match the built package: the registered component is ControlCmdGate, and the transition flags belong on the design graph rather than on global: pins that link_manager skips. TrajectoryFollower declares three debug publishers with message types the node never publishes and a stop_reason publisher it does not create at all. VehicleCmdGate keeps gate_mode and engage on their official topic names through remap_target: alone, so the two inputs are connected through the design.

* fix(autoware_operation_mode_transition_manager): declare the system and legacy interfaces as remap targets The operation mode state publisher, the two operation mode change services and the legacy engage and gate mode publishers are node-side fixed names. Declaring them as remap targets puts them on the design graph; a port pinned with global: is skipped by link_manager and the exporter emits no remap for it. ---------
feat(operation_mode_transition_manager): add driving mode interface (#13251)
fix(control): declare the fixed-name compatibility interfaces in the control node designs (#13281)

* fix(control): declare the fixed-name compatibility interfaces in the control node designs operation_mode_transition_manager subscribes /control/current_gate_mode and /control/external_cmd_selector/current_selector_mode and calls /control/external_cmd_selector/select_external_command by fixed name; the gate serves the ADAPI pause/stop interfaces under /control/vehicle_cmd_gate. Declaring these ports with their remap_target lets a system design connect them and keep the fixed names when the module hierarchy nests the nodes.

* fix(control): declare the multi-publisher gate_mode_cmd and engage topics as global ---------
refactor(control): move node design files into each package (#13100) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
fix(operation_mode_transition_manager): fix missing dependncy (#13066)
Contributors: Ryohsuke Mitsudome, Taekjin LEE, Takagi, Isamu

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: organize maintainer (#12150)
Contributors: Satoshi OTA, github-actions

0.50.0 (2026-02-14)

0.49.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
fix(operation_mode_transition_manager): fix debug value update (#11664)
- fix debug value update
- fix format
* cppcheck ---------
Contributors: Ryohsuke Mitsudome, Takagi, Isamu

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
fix(operation_mode_transition_manager): modify the autonomous mode condition (#11603)
- fix(operation_mode_transition_manager): modify the autonomous mode condition
- fix: passing clang-format
- fix: passing clang-format 2
- fix: add getcurrentmode function
docs: add document of mode transition debug topic

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	autoware_cmake
	rosidl_default_runtime
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_component_interface_specs_universe
	autoware_component_interface_utils
	autoware_control_msgs
	autoware_motion_utils
	autoware_system_msgs
	autoware_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	autoware_vehicle_msgs
	diagnostic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	std_srvs
	tier4_control_msgs
	tier4_system_msgs
	tier4_vehicle_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

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

Messages

OperationModeTransitionManagerDebug [Source]

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_operation_mode_transition_manager` at Robotics Stack Exchange

API Docs Browse Code

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autoware_operation_mode_transition_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_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_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_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_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_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	2026-10-26
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The operation_mode_transition_manager package

Maintainers

Takagi, Isamu
Taiki Yamada

Authors

Takamasa Horibe

control/autoware_operation_mode_transition_manager/README.md

autoware_operation_mode_transition_manager

Note

The state management functionality of this package is currently being moved to the command_mode_decider package. When used with the command_mode_decider package, this package is only responsible for determining transition conditions. Also, the data status, in_autoware_control, and in_transition contained in the debug topic is not available, so use the /system/command_mode_decider/debug topic instead.

in_autoware_control: True when the current command mode is manual mode (default value 1000).
in_transition: See the is_in_transition function in the command_mode_decider package.
status:
- If in_autoware_control, DISENGAGE (autoware mode = curr_mode)
- Else if in_transition, curr_mode (in transition from prev_mode)
- Else curr_mode
- Note: curr_mode = current operation mode and prev_mode = last operation mode

Purpose / Use cases

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

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

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

Features

Transit mode between Autonomous, Local, Remote and Stop based on the indication command.
Check whether the each transition is available (safe or not).
Limit some sudden motion control in In Transition mode (this is done with vehicle_cmd_gate feature).
Check whether the transition is completed.
Transition between the Autonomous, Local, Remote, and Stop modes based on the indicated command.
Determine whether each transition is safe to execute.
Restrict certain sudden motion controls during the In Transition mode (using the vehicle_cmd_gate feature).
Verify that the transition is complete.

Design

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

transition_rough_structure

A more detailed structure is below.

transition_detailed_structure

Here we see that autoware_operation_mode_transition_manager has multiple state transitions as follows

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

Inputs / Outputs / API

Inputs

For the mode transition:

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

For the transition availability/completion check:

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

For the backward compatibility (to be removed):

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

Outputs

/system/operation_mode/state [autoware_adapi_v1_msgs/msg/OperationModeState]: to inform the current operation mode
/control/autoware_operation_mode_transition_manager/debug_info [autoware_operation_mode_transition_manager/msg/OperationModeTransitionManagerDebug]: detailed information about the operation mode transition
/control/gate_mode_cmd [tier4_control_msgs/msg/GateMode]: to change the vehicle_cmd_gate state to use its features (to be removed)
/autoware/engage [autoware_vehicle_msgs/msg/Engage]:
/control/control_mode_request [autoware_vehicle_msgs/srv/ControlModeCommand]: to change the vehicle control mode (autonomous/manual)
/control/external_cmd_selector/select_external_command [tier4_control_msgs/srv/ExternalCommandSelect]:

Parameters

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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_operation_mode_transition_manager

0.53.0 (2026-09-29)

Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
fix(design): align the control node designs with the packages they describe (#13340)

* fix(design): align the control node designs with the packages they describe ControlCommandGate and the operation mode transition manager name a plugin class and pin publishers that do not match the built package: the registered component is ControlCmdGate, and the transition flags belong on the design graph rather than on global: pins that link_manager skips. TrajectoryFollower declares three debug publishers with message types the node never publishes and a stop_reason publisher it does not create at all. VehicleCmdGate keeps gate_mode and engage on their official topic names through remap_target: alone, so the two inputs are connected through the design.

* fix(autoware_operation_mode_transition_manager): declare the system and legacy interfaces as remap targets The operation mode state publisher, the two operation mode change services and the legacy engage and gate mode publishers are node-side fixed names. Declaring them as remap targets puts them on the design graph; a port pinned with global: is skipped by link_manager and the exporter emits no remap for it. ---------
feat(operation_mode_transition_manager): add driving mode interface (#13251)
fix(control): declare the fixed-name compatibility interfaces in the control node designs (#13281)

* fix(control): declare the fixed-name compatibility interfaces in the control node designs operation_mode_transition_manager subscribes /control/current_gate_mode and /control/external_cmd_selector/current_selector_mode and calls /control/external_cmd_selector/select_external_command by fixed name; the gate serves the ADAPI pause/stop interfaces under /control/vehicle_cmd_gate. Declaring these ports with their remap_target lets a system design connect them and keep the fixed names when the module hierarchy nests the nodes.

* fix(control): declare the multi-publisher gate_mode_cmd and engage topics as global ---------
refactor(control): move node design files into each package (#13100) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
fix(operation_mode_transition_manager): fix missing dependncy (#13066)
Contributors: Ryohsuke Mitsudome, Taekjin LEE, Takagi, Isamu

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: organize maintainer (#12150)
Contributors: Satoshi OTA, github-actions

0.50.0 (2026-02-14)

0.49.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
fix(operation_mode_transition_manager): fix debug value update (#11664)
- fix debug value update
- fix format
* cppcheck ---------
Contributors: Ryohsuke Mitsudome, Takagi, Isamu

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
fix(operation_mode_transition_manager): modify the autonomous mode condition (#11603)
- fix(operation_mode_transition_manager): modify the autonomous mode condition
- fix: passing clang-format
- fix: passing clang-format 2
- fix: add getcurrentmode function
docs: add document of mode transition debug topic

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	autoware_cmake
	rosidl_default_runtime
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_component_interface_specs_universe
	autoware_component_interface_utils
	autoware_control_msgs
	autoware_motion_utils
	autoware_system_msgs
	autoware_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	autoware_vehicle_msgs
	diagnostic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	std_srvs
	tier4_control_msgs
	tier4_system_msgs
	tier4_vehicle_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

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

Messages

OperationModeTransitionManagerDebug [Source]

Services

No service files found

Plugins

No plugins found.

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autoware_operation_mode_transition_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_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_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_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_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_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	2026-10-26
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The operation_mode_transition_manager package

Maintainers

Takagi, Isamu
Taiki Yamada

Authors

Takamasa Horibe

control/autoware_operation_mode_transition_manager/README.md

autoware_operation_mode_transition_manager

Note

The state management functionality of this package is currently being moved to the command_mode_decider package. When used with the command_mode_decider package, this package is only responsible for determining transition conditions. Also, the data status, in_autoware_control, and in_transition contained in the debug topic is not available, so use the /system/command_mode_decider/debug topic instead.

in_autoware_control: True when the current command mode is manual mode (default value 1000).
in_transition: See the is_in_transition function in the command_mode_decider package.
status:
- If in_autoware_control, DISENGAGE (autoware mode = curr_mode)
- Else if in_transition, curr_mode (in transition from prev_mode)
- Else curr_mode
- Note: curr_mode = current operation mode and prev_mode = last operation mode

Purpose / Use cases

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

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

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

Features

Transit mode between Autonomous, Local, Remote and Stop based on the indication command.
Check whether the each transition is available (safe or not).
Limit some sudden motion control in In Transition mode (this is done with vehicle_cmd_gate feature).
Check whether the transition is completed.
Transition between the Autonomous, Local, Remote, and Stop modes based on the indicated command.
Determine whether each transition is safe to execute.
Restrict certain sudden motion controls during the In Transition mode (using the vehicle_cmd_gate feature).
Verify that the transition is complete.

Design

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

transition_rough_structure

A more detailed structure is below.

transition_detailed_structure

Here we see that autoware_operation_mode_transition_manager has multiple state transitions as follows

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

Inputs / Outputs / API

Inputs

For the mode transition:

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

For the transition availability/completion check:

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

For the backward compatibility (to be removed):

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

Outputs

/system/operation_mode/state [autoware_adapi_v1_msgs/msg/OperationModeState]: to inform the current operation mode
/control/autoware_operation_mode_transition_manager/debug_info [autoware_operation_mode_transition_manager/msg/OperationModeTransitionManagerDebug]: detailed information about the operation mode transition
/control/gate_mode_cmd [tier4_control_msgs/msg/GateMode]: to change the vehicle_cmd_gate state to use its features (to be removed)
/autoware/engage [autoware_vehicle_msgs/msg/Engage]:
/control/control_mode_request [autoware_vehicle_msgs/srv/ControlModeCommand]: to change the vehicle control mode (autonomous/manual)
/control/external_cmd_selector/select_external_command [tier4_control_msgs/srv/ExternalCommandSelect]:

Parameters

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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_operation_mode_transition_manager

0.53.0 (2026-09-29)

Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
fix(design): align the control node designs with the packages they describe (#13340)

* fix(design): align the control node designs with the packages they describe ControlCommandGate and the operation mode transition manager name a plugin class and pin publishers that do not match the built package: the registered component is ControlCmdGate, and the transition flags belong on the design graph rather than on global: pins that link_manager skips. TrajectoryFollower declares three debug publishers with message types the node never publishes and a stop_reason publisher it does not create at all. VehicleCmdGate keeps gate_mode and engage on their official topic names through remap_target: alone, so the two inputs are connected through the design.

* fix(autoware_operation_mode_transition_manager): declare the system and legacy interfaces as remap targets The operation mode state publisher, the two operation mode change services and the legacy engage and gate mode publishers are node-side fixed names. Declaring them as remap targets puts them on the design graph; a port pinned with global: is skipped by link_manager and the exporter emits no remap for it. ---------
feat(operation_mode_transition_manager): add driving mode interface (#13251)
fix(control): declare the fixed-name compatibility interfaces in the control node designs (#13281)

* fix(control): declare the fixed-name compatibility interfaces in the control node designs operation_mode_transition_manager subscribes /control/current_gate_mode and /control/external_cmd_selector/current_selector_mode and calls /control/external_cmd_selector/select_external_command by fixed name; the gate serves the ADAPI pause/stop interfaces under /control/vehicle_cmd_gate. Declaring these ports with their remap_target lets a system design connect them and keep the fixed names when the module hierarchy nests the nodes.

* fix(control): declare the multi-publisher gate_mode_cmd and engage topics as global ---------
refactor(control): move node design files into each package (#13100) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
fix(operation_mode_transition_manager): fix missing dependncy (#13066)
Contributors: Ryohsuke Mitsudome, Taekjin LEE, Takagi, Isamu

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: organize maintainer (#12150)
Contributors: Satoshi OTA, github-actions

0.50.0 (2026-02-14)

0.49.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
fix(operation_mode_transition_manager): fix debug value update (#11664)
- fix debug value update
- fix format
* cppcheck ---------
Contributors: Ryohsuke Mitsudome, Takagi, Isamu

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
fix(operation_mode_transition_manager): modify the autonomous mode condition (#11603)
- fix(operation_mode_transition_manager): modify the autonomous mode condition
- fix: passing clang-format
- fix: passing clang-format 2
- fix: add getcurrentmode function
docs: add document of mode transition debug topic

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	autoware_cmake
	rosidl_default_runtime
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_component_interface_specs_universe
	autoware_component_interface_utils
	autoware_control_msgs
	autoware_motion_utils
	autoware_system_msgs
	autoware_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	autoware_vehicle_msgs
	diagnostic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	std_srvs
	tier4_control_msgs
	tier4_system_msgs
	tier4_vehicle_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

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

Messages

OperationModeTransitionManagerDebug [Source]

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_operation_mode_transition_manager` at Robotics Stack Exchange

API Docs Browse Code Wiki

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

autoware_operation_mode_transition_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_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_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_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_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_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	2026-10-26
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The operation_mode_transition_manager package

Maintainers

Takagi, Isamu
Taiki Yamada

Authors

Takamasa Horibe

control/autoware_operation_mode_transition_manager/README.md

autoware_operation_mode_transition_manager

Note

The state management functionality of this package is currently being moved to the command_mode_decider package. When used with the command_mode_decider package, this package is only responsible for determining transition conditions. Also, the data status, in_autoware_control, and in_transition contained in the debug topic is not available, so use the /system/command_mode_decider/debug topic instead.

in_autoware_control: True when the current command mode is manual mode (default value 1000).
in_transition: See the is_in_transition function in the command_mode_decider package.
status:
- If in_autoware_control, DISENGAGE (autoware mode = curr_mode)
- Else if in_transition, curr_mode (in transition from prev_mode)
- Else curr_mode
- Note: curr_mode = current operation mode and prev_mode = last operation mode

Purpose / Use cases

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

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

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

Features

Transit mode between Autonomous, Local, Remote and Stop based on the indication command.
Check whether the each transition is available (safe or not).
Limit some sudden motion control in In Transition mode (this is done with vehicle_cmd_gate feature).
Check whether the transition is completed.
Transition between the Autonomous, Local, Remote, and Stop modes based on the indicated command.
Determine whether each transition is safe to execute.
Restrict certain sudden motion controls during the In Transition mode (using the vehicle_cmd_gate feature).
Verify that the transition is complete.

Design

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

transition_rough_structure

A more detailed structure is below.

transition_detailed_structure

Here we see that autoware_operation_mode_transition_manager has multiple state transitions as follows

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

Inputs / Outputs / API

Inputs

For the mode transition:

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

For the transition availability/completion check:

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

For the backward compatibility (to be removed):

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

Outputs

/system/operation_mode/state [autoware_adapi_v1_msgs/msg/OperationModeState]: to inform the current operation mode
/control/autoware_operation_mode_transition_manager/debug_info [autoware_operation_mode_transition_manager/msg/OperationModeTransitionManagerDebug]: detailed information about the operation mode transition
/control/gate_mode_cmd [tier4_control_msgs/msg/GateMode]: to change the vehicle_cmd_gate state to use its features (to be removed)
/autoware/engage [autoware_vehicle_msgs/msg/Engage]:
/control/control_mode_request [autoware_vehicle_msgs/srv/ControlModeCommand]: to change the vehicle control mode (autonomous/manual)
/control/external_cmd_selector/select_external_command [tier4_control_msgs/srv/ExternalCommandSelect]:

Parameters

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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_operation_mode_transition_manager

0.53.0 (2026-09-29)

Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
fix(design): align the control node designs with the packages they describe (#13340)

* fix(design): align the control node designs with the packages they describe ControlCommandGate and the operation mode transition manager name a plugin class and pin publishers that do not match the built package: the registered component is ControlCmdGate, and the transition flags belong on the design graph rather than on global: pins that link_manager skips. TrajectoryFollower declares three debug publishers with message types the node never publishes and a stop_reason publisher it does not create at all. VehicleCmdGate keeps gate_mode and engage on their official topic names through remap_target: alone, so the two inputs are connected through the design.

* fix(autoware_operation_mode_transition_manager): declare the system and legacy interfaces as remap targets The operation mode state publisher, the two operation mode change services and the legacy engage and gate mode publishers are node-side fixed names. Declaring them as remap targets puts them on the design graph; a port pinned with global: is skipped by link_manager and the exporter emits no remap for it. ---------
feat(operation_mode_transition_manager): add driving mode interface (#13251)
fix(control): declare the fixed-name compatibility interfaces in the control node designs (#13281)

* fix(control): declare the fixed-name compatibility interfaces in the control node designs operation_mode_transition_manager subscribes /control/current_gate_mode and /control/external_cmd_selector/current_selector_mode and calls /control/external_cmd_selector/select_external_command by fixed name; the gate serves the ADAPI pause/stop interfaces under /control/vehicle_cmd_gate. Declaring these ports with their remap_target lets a system design connect them and keep the fixed names when the module hierarchy nests the nodes.

* fix(control): declare the multi-publisher gate_mode_cmd and engage topics as global ---------
refactor(control): move node design files into each package (#13100) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
fix(operation_mode_transition_manager): fix missing dependncy (#13066)
Contributors: Ryohsuke Mitsudome, Taekjin LEE, Takagi, Isamu

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: organize maintainer (#12150)
Contributors: Satoshi OTA, github-actions

0.50.0 (2026-02-14)

0.49.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
fix(operation_mode_transition_manager): fix debug value update (#11664)
- fix debug value update
- fix format
* cppcheck ---------
Contributors: Ryohsuke Mitsudome, Takagi, Isamu

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
fix(operation_mode_transition_manager): modify the autonomous mode condition (#11603)
- fix(operation_mode_transition_manager): modify the autonomous mode condition
- fix: passing clang-format
- fix: passing clang-format 2
- fix: add getcurrentmode function
docs: add document of mode transition debug topic

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	autoware_cmake
	rosidl_default_runtime
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_component_interface_specs_universe
	autoware_component_interface_utils
	autoware_control_msgs
	autoware_motion_utils
	autoware_system_msgs
	autoware_utils
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	autoware_vehicle_msgs
	diagnostic_msgs
	geometry_msgs
	rclcpp
	rclcpp_components
	std_srvs
	tier4_control_msgs
	tier4_system_msgs
	tier4_vehicle_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

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

Messages

OperationModeTransitionManagerDebug [Source]

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_operation_mode_transition_manager` at Robotics Stack Exchange

API Docs Browse Code Wiki

autoware_operation_mode_transition_manager package from autoware_universe repo

ROS Distrogithub

Package Summary

Repository Summary

Package Description

Maintainers

Authors

autoware_operation_mode_transition_manager

Note

Purpose / Use cases

Features

Design

Inputs / Outputs / API

Inputs

Outputs

Parameters

Changelog for package autoware_operation_mode_transition_manager

0.53.0 (2026-09-29)

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

0.50.0 (2026-02-14)

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged autoware_operation_mode_transition_manager at Robotics Stack Exchange

autoware_operation_mode_transition_manager package from autoware_universe repo

ROS Distrogithub

Package Summary

Repository Summary

Package Description

Maintainers

Authors

autoware_operation_mode_transition_manager

Note

Purpose / Use cases

Features

Design

Inputs / Outputs / API

Inputs

Outputs

Parameters

Changelog for package autoware_operation_mode_transition_manager

0.53.0 (2026-09-29)

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

0.50.0 (2026-02-14)

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged autoware_operation_mode_transition_manager at Robotics Stack Exchange

autoware_operation_mode_transition_manager package from autoware_universe repo

ROS Distrogithub

Package Summary

Repository Summary

Package Description

Maintainers

Authors

autoware_operation_mode_transition_manager

Note

Purpose / Use cases

Features

Design

Inputs / Outputs / API

Inputs

Outputs

Parameters

Changelog for package autoware_operation_mode_transition_manager

0.53.0 (2026-09-29)

ROS Distro
github

Recent questions tagged `autoware_operation_mode_transition_manager` at Robotics Stack Exchange

ROS Distro
github

Recent questions tagged `autoware_operation_mode_transition_manager` at Robotics Stack Exchange

ROS Distro
github

Recent questions tagged `autoware_operation_mode_transition_manager` at Robotics Stack Exchange

ROS Distro
github

Recent questions tagged `autoware_operation_mode_transition_manager` at Robotics Stack Exchange

ROS Distro
github