Carma-platform v4.2.0
CARMA Platform is built on robot operating system (ROS) and utilizes open source software (OSS) that enables Cooperative Driving Automation (CDA) features to allow Automated Driving Systems to interact and cooperate with infrastructure and other vehicles through communication.
approaching_emergency_vehicle_plugin

The Approaching Emergency Vehicle Plugin is a ROS2 node and is one of the strategic plugins in the CARMA System. The plugin is responsible for processing incoming BSMs to determine whether a nearby active emergency resonse vehicle (ERV) exists, and for generating maneuvers that account for an approaching (i.e. will eventually pass the ego vehicle on the same stretch of road) ERV.

Link to detailed design document on Confluence: Detailed Design - Approaching Emergency Vehicle Strategic Plugin