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.
basic_autonomy

The basic_autonomy library includes functions for waypoint processing, which are used by tactical plugins in order to generate detailed trajectories for the CARMA system.