From 42d894fed50eb54144bad90c570fc928c3ff2743 Mon Sep 17 00:00:00 2001
From: TetsuKawa <70682030+TetsuKawa@users.noreply.github.com>
Date: Mon, 11 Mar 2024 14:14:12 +0900
Subject: [PATCH] feat: add timeouts of request services (#6532)

* feat: add timeouts of request services

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* style(pre-commit): autofix

* feat: replace define with enum

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* style(pre-commit): autofix

* modify: renam a function

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* modify: rename a function

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* modify: fix functions name at the caller side

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

---------

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
Co-authored-by: Ryuta Kambe <veqcc.c@gmail.com>
---
 .../mrm_handler/config/mrm_handler.param.yaml |   2 +
 system/mrm_handler/image/mrm-state.svg        | 232 +++++++++---------
 .../include/mrm_handler/mrm_handler_core.hpp  |  13 +-
 .../schema/mrm_handler.schema.json            |  12 +
 .../src/mrm_handler/mrm_handler_core.cpp      | 156 ++++++------
 5 files changed, 225 insertions(+), 190 deletions(-)

diff --git a/system/mrm_handler/config/mrm_handler.param.yaml b/system/mrm_handler/config/mrm_handler.param.yaml
index a0295fb07627c..e82ee36a7825a 100644
--- a/system/mrm_handler/config/mrm_handler.param.yaml
+++ b/system/mrm_handler/config/mrm_handler.param.yaml
@@ -4,6 +4,8 @@
   ros__parameters:
     update_rate: 10
     timeout_operation_mode_availability: 0.5
+    timeout_call_mrm_behavior: 0.01
+    timeout_cancel_mrm_behavior: 0.01
     use_emergency_holding: false
     timeout_emergency_recovery: 5.0
     use_parking_after_stopped: false
diff --git a/system/mrm_handler/image/mrm-state.svg b/system/mrm_handler/image/mrm-state.svg
index 13a2956b6f15c..dbcc13918feff 100644
--- a/system/mrm_handler/image/mrm-state.svg
+++ b/system/mrm_handler/image/mrm-state.svg
@@ -8,302 +8,300 @@
   width="958px"
   height="341px"
   viewBox="-0.5 -0.5 958 341"
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+          <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 224px; margin-left: 588px;">
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               >
-                pull over unavailable
-                <br/>
-                comfortable_stop available (ca)
+                ea || failed
               </div>
             </div>
           </div>
         </foreignObject>
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+        <text x="588" y="227" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">ea || failed</text>
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+          <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 188px; margin-left: 688px;">
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               >
-                pull over available (pa)
+                ea || failed
               </div>
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+        <text x="688" y="191" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">ea || failed</text>
+      </switch>
+    </g>
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+    <g transform="translate(-0.5 -0.5)">
+      <switch>
+        <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+          <div
+            xmlns="http://www.w3.org/1999/xhtml"
+            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 148px; height: 1px; padding-top: 270px; margin-left: 508px;"
+          >
+            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+              <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                emergency_stop
+              </div>
+            </div>
+          </div>
+        </foreignObject>
+        <text x="582" y="274" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">emergency_stop</text>
       </switch>
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         <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+          <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 135px; margin-left: 566px;">
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               >
-                pull over unavailable
-                <br style="border-color: var(--border-color);"/>
-                comfortable_stop unavailable
-                <br/>
-                emergency_stop available (ea)
+                ca
               </div>
             </div>
           </div>
         </foreignObject>
-        <text x="411" y="238" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">pull over unavailable...</text>
+        <text x="566" y="138" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">ca</text>
       </switch>
     </g>
-    <ellipse cx="302" cy="178.75" rx="15" ry="15" fill="#000000" stroke="rgb(0, 0, 0)" pointer-events="all"/>
-    <path d="M 582 120 L 582 153.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
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-    <rect x="507" y="80" width="150" height="40" rx="6" ry="6" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+    <rect x="507" y="150" width="150" height="60" rx="9" ry="9" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
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       <switch>
         <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
           <div
             xmlns="http://www.w3.org/1999/xhtml"
-            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 148px; height: 1px; padding-top: 100px; margin-left: 508px;"
+            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 148px; height: 1px; padding-top: 180px; margin-left: 508px;"
           >
             <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
               <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
-                pull_over
+                comfortable_stop
               </div>
             </div>
           </div>
         </foreignObject>
-        <text x="582" y="104" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">pull_over</text>
+        <text x="582" y="184" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">comfortable_stop</text>
       </switch>
     </g>
-    <path d="M 582 197.5 L 582 233.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-    <path d="M 582 238.88 L 578.5 231.88 L 582 233.63 L 585.5 231.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+    <path d="M 237 220 L 187 220 L 143.37 220" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+    <path d="M 138.12 220 L 145.12 216.5 L 143.37 220 L 145.12 223.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
     <g transform="translate(-0.5 -0.5)">
       <switch>
         <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+          <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 211px; margin-left: 188px;">
             <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
               <div
                 style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"
               >
-                ea
+                not emergency
               </div>
             </div>
           </div>
         </foreignObject>
-        <text x="591" y="220" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">ea</text>
+        <text x="188" y="214" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">not emergency</text>
       </switch>
     </g>
+    <path d="M 37 180 L 70.63 180" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+    <path d="M 75.88 180 L 68.88 183.5 L 70.63 180 L 68.88 176.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+    <ellipse cx="22" cy="180" rx="15" ry="15" fill="#000000" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+    <path d="M 137 150 L 217 150 L 230.63 150" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+    <path d="M 235.88 150 L 228.88 153.5 L 230.63 150 L 228.88 146.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
     <g transform="translate(-0.5 -0.5)">
       <switch>
         <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+          <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 141px; margin-left: 184px;">
             <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
               <div
                 style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"
               >
-                ea
+                emergency
               </div>
             </div>
           </div>
         </foreignObject>
-        <text x="698" y="184" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">ea</text>
+        <text x="184" y="144" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">emergency</text>
       </switch>
     </g>
-    <rect x="507" y="240" width="150" height="37.5" rx="5.63" ry="5.63" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+    <rect x="77" y="120" width="60" height="120" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
     <g transform="translate(-0.5 -0.5)">
       <switch>
         <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
-          <div
-            xmlns="http://www.w3.org/1999/xhtml"
-            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 148px; height: 1px; padding-top: 259px; margin-left: 508px;"
-          >
+          <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 58px; height: 1px; padding-top: 180px; margin-left: 78px;">
             <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
               <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
-                emergency_stop
+                <b>NORMAL</b>
               </div>
             </div>
           </div>
         </foreignObject>
-        <text x="582" y="262" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">emergency_stop</text>
+        <text x="107" y="184" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">NORMAL</text>
       </switch>
     </g>
-    <path d="M 582 120 L 582 153.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-    <path d="M 582 158.88 L 578.5 151.88 L 582 153.63 L 585.5 151.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+    <path d="M 727 120 L 767 120 L 800.63 120" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+    <path d="M 805.88 120 L 798.88 123.5 L 800.63 120 L 798.88 116.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
     <g transform="translate(-0.5 -0.5)">
       <switch>
         <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
-          <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 139px; margin-left: 591px;">
+          <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 111px; margin-left: 765px;">
             <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
               <div
                 style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"
               >
-                ca
+                succeeded
               </div>
             </div>
           </div>
         </foreignObject>
-        <text x="591" y="142" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">ca</text>
+        <text x="765" y="114" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">succeeded</text>
       </switch>
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+    <path d="M 657 274 L 697 274 L 800.63 274" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+    <path d="M 805.88 274 L 798.88 277.5 L 800.63 274 L 798.88 270.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
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       <switch>
         <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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-                comfortable_stop
+          <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 265px; margin-left: 758px;">
+            <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+              <div
+                style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"
+              >
+                failed
               </div>
             </div>
           </div>
         </foreignObject>
-        <text x="582" y="182" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">comfortable_stop</text>
+        <text x="758" y="268" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">failed</text>
       </switch>
     </g>
     <path d="M 7 180 L 11.4 180 L 11.4 184.24" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
     <path d="M 11.39 189.49 L 7.9 182.49 L 11.4 184.24 L 14.9 182.49 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
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+    <path d="M 807 80 L 737 80 L 663.37 80" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+    <path d="M 658.12 80 L 665.12 76.5 L 663.37 80 L 665.12 83.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
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       <switch>
         <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+          <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 71px; margin-left: 758px;">
             <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
               <div
                 style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"
@@ -313,7 +311,7 @@
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           </div>
         </foreignObject>
-        <text x="768" y="74" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">pa</text>
+        <text x="758" y="74" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">pa</text>
       </switch>
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@@ -334,13 +332,13 @@
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       </switch>
     </g>
-    <rect x="807" y="210" width="130" height="80" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+    <rect x="807" y="230" width="130" height="80" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
     <g transform="translate(-0.5 -0.5)">
       <switch>
         <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
           <div
             xmlns="http://www.w3.org/1999/xhtml"
-            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 128px; height: 1px; padding-top: 250px; margin-left: 808px;"
+            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 128px; height: 1px; padding-top: 270px; margin-left: 808px;"
           >
             <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
               <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
@@ -349,7 +347,7 @@
             </div>
           </div>
         </foreignObject>
-        <text x="872" y="254" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">MRM_FAILED</text>
+        <text x="872" y="274" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">MRM_FAILED</text>
       </switch>
     </g>
   </g>
diff --git a/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp b/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp
index 98f12ba6b9467..1dd0f6b081337 100644
--- a/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp
+++ b/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp
@@ -47,6 +47,8 @@ struct Param
 {
   int update_rate;
   double timeout_operation_mode_availability;
+  double timeout_call_mrm_behavior;
+  double timeout_cancel_mrm_behavior;
   bool use_emergency_holding;
   double timeout_emergency_recovery;
   bool use_parking_after_stopped;
@@ -61,6 +63,9 @@ class MrmHandler : public rclcpp::Node
   MrmHandler();
 
 private:
+  // type
+  enum RequestType { CALL, CANCEL };
+
   // Subscribers
   rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr sub_odom_;
   rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::ControlModeReport>::SharedPtr
@@ -120,10 +125,9 @@ class MrmHandler : public rclcpp::Node
   rclcpp::CallbackGroup::SharedPtr client_mrm_emergency_stop_group_;
   rclcpp::Client<tier4_system_msgs::srv::OperateMrm>::SharedPtr client_mrm_emergency_stop_;
 
-  void callMrmBehavior(
-    const autoware_adapi_v1_msgs::msg::MrmState::_behavior_type & mrm_behavior) const;
-  void cancelMrmBehavior(
-    const autoware_adapi_v1_msgs::msg::MrmState::_behavior_type & mrm_behavior) const;
+  bool requestMrmBehavior(
+    const autoware_adapi_v1_msgs::msg::MrmState::_behavior_type & mrm_behavior,
+    RequestType request_type) const;
   void logMrmCallingResult(
     const tier4_system_msgs::srv::OperateMrm::Response & result, const std::string & behavior,
     bool is_call) const;
@@ -148,6 +152,7 @@ class MrmHandler : public rclcpp::Node
   void transitionTo(const int new_state);
   void updateMrmState();
   void operateMrm();
+  void handleFailedRequest();
   autoware_adapi_v1_msgs::msg::MrmState::_behavior_type getCurrentMrmBehavior();
   bool isStopped();
   bool isEmergency() const;
diff --git a/system/mrm_handler/schema/mrm_handler.schema.json b/system/mrm_handler/schema/mrm_handler.schema.json
index aedb8076ef05c..9a50c6a326f01 100644
--- a/system/mrm_handler/schema/mrm_handler.schema.json
+++ b/system/mrm_handler/schema/mrm_handler.schema.json
@@ -16,6 +16,16 @@
           "description": "If the input `operation_mode_availability` topic cannot be received for more than `timeout_operation_mode_availability`, vehicle will make an emergency stop.",
           "default": 0.5
         },
+        "timeout_call_mrm_behavior": {
+          "type": "number",
+          "description": "If a service is requested to the mrm operator and the response is not returned by `timeout_call_mrm_behavior`, the timeout occurs.",
+          "default": 0.01
+        },
+        "timeout_cancel_mrm_behavior": {
+          "type": "number",
+          "description": "If a service is requested to the mrm operator and the response is not returned by `timeout_cancel_mrm_behavior`, the timeout occurs.",
+          "default": 0.01
+        },
         "use_emergency_holding": {
           "type": "boolean",
           "description": "If this parameter is true, the handler does not recover to the NORMAL state.",
@@ -56,6 +66,8 @@
       "required": [
         "update_rate",
         "timeout_operation_mode_availability",
+        "timeout_call_mrm_behavior",
+        "timeout_cancel_mrm_behavior",
         "use_emergency_holding",
         "timeout_emergency_recovery",
         "use_parking_after_stopped",
diff --git a/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp b/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp
index 03cc08de2d160..e8e692f755e2d 100644
--- a/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp
+++ b/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp
@@ -24,6 +24,9 @@ MrmHandler::MrmHandler() : Node("mrm_handler")
   param_.update_rate = declare_parameter<int>("update_rate", 10);
   param_.timeout_operation_mode_availability =
     declare_parameter<double>("timeout_operation_mode_availability", 0.5);
+  param_.timeout_call_mrm_behavior = declare_parameter<double>("timeout_call_mrm_behavior", 0.01);
+  param_.timeout_cancel_mrm_behavior =
+    declare_parameter<double>("timeout_cancel_mrm_behavior", 0.01);
   param_.use_emergency_holding = declare_parameter<bool>("use_emergency_holding", false);
   param_.timeout_emergency_recovery = declare_parameter<double>("timeout_emergency_recovery", 5.0);
   param_.use_parking_after_stopped = declare_parameter<bool>("use_parking_after_stopped", false);
@@ -210,18 +213,27 @@ void MrmHandler::operateMrm()
   if (mrm_state_.state == MrmState::NORMAL) {
     // Cancel MRM behavior when returning to NORMAL state
     const auto current_mrm_behavior = MrmState::NONE;
-    if (current_mrm_behavior != mrm_state_.behavior) {
-      cancelMrmBehavior(mrm_state_.behavior);
+    if (current_mrm_behavior == mrm_state_.behavior) {
+      return;
+    }
+    if (requestMrmBehavior(mrm_state_.behavior, RequestType::CANCEL)) {
       mrm_state_.behavior = current_mrm_behavior;
+    } else {
+      handleFailedRequest();
     }
     return;
   }
   if (mrm_state_.state == MrmState::MRM_OPERATING) {
     const auto current_mrm_behavior = getCurrentMrmBehavior();
-    if (current_mrm_behavior != mrm_state_.behavior) {
-      cancelMrmBehavior(mrm_state_.behavior);
-      callMrmBehavior(current_mrm_behavior);
+    if (current_mrm_behavior == mrm_state_.behavior) {
+      return;
+    }
+    if (!requestMrmBehavior(mrm_state_.behavior, RequestType::CANCEL)) {
+      handleFailedRequest();
+    } else if (requestMrmBehavior(current_mrm_behavior, RequestType::CALL)) {
       mrm_state_.behavior = current_mrm_behavior;
+    } else {
+      handleFailedRequest();
     }
     return;
   }
@@ -237,88 +249,94 @@ void MrmHandler::operateMrm()
   RCLCPP_WARN(this->get_logger(), "invalid MRM state: %d", mrm_state_.state);
 }
 
-void MrmHandler::callMrmBehavior(
-  const autoware_adapi_v1_msgs::msg::MrmState::_behavior_type & mrm_behavior) const
+void MrmHandler::handleFailedRequest()
 {
   using autoware_adapi_v1_msgs::msg::MrmState;
 
-  auto request = std::make_shared<tier4_system_msgs::srv::OperateMrm::Request>();
-  request->operate = true;
-
-  if (mrm_behavior == MrmState::NONE) {
-    RCLCPP_WARN(this->get_logger(), "MRM behavior is None. Do nothing.");
-    return;
-  }
-  if (mrm_behavior == MrmState::PULL_OVER) {
-    auto result = client_mrm_pull_over_->async_send_request(request).get();
-    if (result->response.success == true) {
-      RCLCPP_WARN(this->get_logger(), "Pull over is operated");
-    } else {
-      RCLCPP_ERROR(this->get_logger(), "Pull over failed to operate");
-    }
-    return;
-  }
-  if (mrm_behavior == MrmState::COMFORTABLE_STOP) {
-    auto result = client_mrm_comfortable_stop_->async_send_request(request).get();
-    if (result->response.success == true) {
-      RCLCPP_WARN(this->get_logger(), "Comfortable stop is operated");
-    } else {
-      RCLCPP_ERROR(this->get_logger(), "Comfortable stop failed to operate");
-    }
-    return;
-  }
-  if (mrm_behavior == MrmState::EMERGENCY_STOP) {
-    auto result = client_mrm_emergency_stop_->async_send_request(request).get();
-    if (result->response.success == true) {
-      RCLCPP_WARN(this->get_logger(), "Emergency stop is operated");
-    } else {
-      RCLCPP_ERROR(this->get_logger(), "Emergency stop failed to operate");
-    }
-    return;
+  if (requestMrmBehavior(MrmState::EMERGENCY_STOP, CALL)) {
+    if (mrm_state_.state != MrmState::MRM_OPERATING) transitionTo(MrmState::MRM_OPERATING);
+  } else {
+    transitionTo(MrmState::MRM_FAILED);
   }
-  RCLCPP_WARN(this->get_logger(), "invalid MRM behavior: %d", mrm_behavior);
+  mrm_state_.behavior = MrmState::EMERGENCY_STOP;
 }
 
-void MrmHandler::cancelMrmBehavior(
-  const autoware_adapi_v1_msgs::msg::MrmState::_behavior_type & mrm_behavior) const
+bool MrmHandler::requestMrmBehavior(
+  const autoware_adapi_v1_msgs::msg::MrmState::_behavior_type & mrm_behavior,
+  RequestType request_type) const
 {
   using autoware_adapi_v1_msgs::msg::MrmState;
 
   auto request = std::make_shared<tier4_system_msgs::srv::OperateMrm::Request>();
-  request->operate = false;
-
-  if (mrm_behavior == MrmState::NONE) {
-    // Do nothing
-    return;
+  if (request_type == RequestType::CALL) {
+    request->operate = true;
+  } else if (request_type == RequestType::CANCEL) {
+    request->operate = false;
+  } else {
+    RCLCPP_ERROR(this->get_logger(), "invalid request type: %d", request_type);
+    return false;
   }
-  if (mrm_behavior == MrmState::PULL_OVER) {
-    auto result = client_mrm_pull_over_->async_send_request(request).get();
-    if (result->response.success == true) {
-      RCLCPP_WARN(this->get_logger(), "Pull over is canceled");
-    } else {
-      RCLCPP_ERROR(this->get_logger(), "Pull over failed to cancel");
+  const auto duration = std::chrono::duration<double, std::ratio<1>>(
+    request->operate ? param_.timeout_call_mrm_behavior : param_.timeout_cancel_mrm_behavior);
+  std::shared_future<std::shared_ptr<tier4_system_msgs::srv::OperateMrm::Response>> future;
+
+  const auto behavior2string = [](const int behavior) {
+    if (behavior == MrmState::NONE) {
+      return "NONE";
     }
-    return;
-  }
-  if (mrm_behavior == MrmState::COMFORTABLE_STOP) {
-    auto result = client_mrm_comfortable_stop_->async_send_request(request).get();
-    if (result->response.success == true) {
-      RCLCPP_WARN(this->get_logger(), "Comfortable stop is canceled");
-    } else {
-      RCLCPP_ERROR(this->get_logger(), "Comfortable stop failed to cancel");
+    if (behavior == MrmState::PULL_OVER) {
+      return "PULL_OVER";
     }
-    return;
+    if (behavior == MrmState::COMFORTABLE_STOP) {
+      return "COMFORTABLE_STOP";
+    }
+    if (behavior == MrmState::EMERGENCY_STOP) {
+      return "EMERGENCY_STOP";
+    }
+    const auto msg = "invalid behavior: " + std::to_string(behavior);
+    throw std::runtime_error(msg);
+  };
+
+  switch (mrm_behavior) {
+    case MrmState::NONE:
+      RCLCPP_WARN(this->get_logger(), "MRM behavior is None. Do nothing.");
+      return true;
+    case MrmState::PULL_OVER: {
+      future = client_mrm_pull_over_->async_send_request(request).future.share();
+      break;
+    }
+    case MrmState::COMFORTABLE_STOP: {
+      future = client_mrm_comfortable_stop_->async_send_request(request).future.share();
+      break;
+    }
+    case MrmState::EMERGENCY_STOP: {
+      future = client_mrm_emergency_stop_->async_send_request(request).future.share();
+      break;
+    }
+    default:
+      RCLCPP_ERROR(this->get_logger(), "invalid behavior: %d", mrm_behavior);
+      return false;
   }
-  if (mrm_behavior == MrmState::EMERGENCY_STOP) {
-    auto result = client_mrm_emergency_stop_->async_send_request(request).get();
+
+  if (future.wait_for(duration) == std::future_status::ready) {
+    const auto result = future.get();
     if (result->response.success == true) {
-      RCLCPP_WARN(this->get_logger(), "Emergency stop is canceled");
+      RCLCPP_WARN(
+        this->get_logger(), request->operate ? "%s is operated." : "%s is canceled.",
+        behavior2string(mrm_behavior));
+      return true;
     } else {
-      RCLCPP_ERROR(this->get_logger(), "Emergency stop failed to cancel");
+      RCLCPP_ERROR(
+        this->get_logger(), request->operate ? "%s failed to operate." : "%s failed to cancel.",
+        behavior2string(mrm_behavior));
+      return false;
     }
-    return;
+  } else {
+    RCLCPP_ERROR(
+      this->get_logger(), request->operate ? "%s call timed out." : "%s cancel timed out.",
+      behavior2string(mrm_behavior));
+    return false;
   }
-  RCLCPP_WARN(this->get_logger(), "invalid MRM behavior: %d", mrm_behavior);
 }
 
 bool MrmHandler::isDataReady()