feat: update mrm handler for mrm v0.6

system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp

@@ -25,6 +25,8 @@
 // Autoware
 #include <tier4_autoware_utils/ros/update_param.hpp>
 
+#include <tier4_system_msgs/msg/mrm_state.hpp>
+#include <tier4_system_msgs/msg/mrm_behavior.hpp>
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
 #include <autoware_auto_vehicle_msgs/msg/control_mode_report.hpp>
 #include <autoware_auto_vehicle_msgs/msg/gear_command.hpp>

system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp

@@ -99,7 +99,7 @@
   mrm_state_.behavior.type = tier4_system_msgs::msg::MrmBehavior::NONE;
   is_operation_mode_availability_timeout = false;
 
   // Timera
   const auto update_period_ns = rclcpp::Rate(param_.update_rate).period();
   timer_ = rclcpp::create_timer(
     this, get_clock(), update_period_ns, std::bind(&MrmHandler::onTimer, this));
@@ -229,7 +229,7 @@
 {
   using tier4_system_msgs::msg::MrmBehavior;
   using tier4_system_msgs::msg::MrmState;
-
+  
   if (mrm_state_.state == MrmState::NORMAL) {
     // Cancel MRM behavior when returning to NORMAL state
     const auto current_mrm_behavior = MrmBehavior::NONE;
@@ -465,9 +465,9 @@
 
 void MrmHandler::updateMrmState()
 {
-  using autoware_auto_vehicle_msgs::msg::ControlModeReport;
-  using tier4_system_msgs::msg::MrmBehavior;
   using tier4_system_msgs::msg::MrmState;
+  using tier4_system_msgs::msg::MrmBehavior;
+  using autoware_auto_vehicle_msgs::msg::ControlModeReport;
 
   // Check emergency
   const bool is_emergency = isEmergency();