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.
bsm_generator

The bsm_generator package contains a node that subscribes to various vehicle data topics in the CARMA System (including topics for vehicle speed, longitudinal acceleration, transmission state, and more). Using this received data, the BSM Generator node composes a BSM message and publishes the message at a fixed rate.