This packages provides logic for updating a carma_wm compatable lanelet2 map at runtime using CARMACloud geofences. The carma_wm_broadcaster node sits between the lanelet2 map loader and the rest of the CARMAPlatform system. When a new geofence is received, the map is updated and the update is communicated to the rest of the CARMAPlatform. If a base map is received which does not contain the carma_wm compatible regulatory elements, the carma_wm_broadcaster node will make an initial best effort attempt to make the map compatible. There is no guarantee that this will work so starting with a compatible map is always recommended.

Design documentation for this package can be found in the carma_wm_ctrl section of this confluence page.