Version 4.14.0, released Sep 30th 2026
Summary
The CARMA System 4.14.0 release includes the following significant updates:
- SAE J2735 2024 Support: CARMA Platform, CARMA Messenger, CARMA Msgs, and V2X ROS Conversion have been upgraded from SAE J2735 2016 to SAE J2735 2024.
- Improved Trajectory Collision Checking: CARMA Platform trajectory planning now applies collision checking (via the yield_plugin) to all planned trajectories, improving the safety of generated trajectories.
- SCMS-Enabled V2X Communication Verification: V2X ROS Driver has been verified to support SCMS-enabled V2X communications with appropriately configured OBUs.
- Ettifos OBU Support: V2X ROS Driver now supports MQTT protocol for use with Ettifos OBUs.
- Simplified Global ROS Parameter Configuration: A global parameter override file (GlobalParamsOverride.yaml) has been added to CARMA Config and CARMA Messenger Config. This allows operators to configure parameters for CARMA Platform and CARMA Messenger packages, including packages in related repositories, from a single location without creating Docker volume mounts for individual packages.
- Improved ROS Logging Configuration: Logging behavior has been improved across CARMA Platform and related repositories. Operators can now configure ROS log levels for software libraries directly through CARMA Config.
Changes to Key Existing Repositories
CARMA Platform
In this release, CARMA Platform has been upgraded from SAE J2735 2016 to SAE J2735 2024. Additionally, CARMA Platform has been updated to support a global parameter override file in CARMA Config, to enable ROS log levels to be configured for software libraries in CARMA Config, to apply collision checking (via the yield_plugin) to all planned trajectories, along with other minor enhancements and fixes.
Enhancements
- Add support for a global parameter override yaml file (GlobalParamsOverride.yaml) in CARMA Config.
- Improve the logging paradigm in CARMA Platform to enable ROS log levels to be set for software libraries (e.g., carma_wm and basic_autonomy) from CARMA Config.
- Refactor plan_delegator to apply collision checking (via yield_plugin) to all planned trajectory segments.
- Improve RViz work zone visualization to display orange dots resembling traffic barrels based on locations in received TrafficControlMessages (SAE J2735 TestMessage).
Fixes
Other Updates
CARMA Messenger
In this release, CARMA Messenger has been upgraded from SAE J2735 2016 to SAE J2735 2024. Additionally, implementation updates have been made to support a global parameter override file in carma-messenger-config.
Enhancements
- Upgrade CARMA Messenger from SAE J2735 2016 to SAE J2735 2024.
- Add support for a global parameter override yaml file (GlobalParamsOverride.yaml) in carma-messenger-config.
Fixes
- carma-messenger PR #305: Fix variable naming in carma-messenger-ui’s ‘emergencyResponse’ widget to avoid a redeclaration error.
Other Updates
CARMA Streets
In this release, CARMA Streets has been updated to support V2X Hub version selection during initialization, improve the SDSM publishing rate, and add necessary configuration settings to resolve the Kafka broker IP when V2X Hub is running on the host network.
Enhancements
- The sensor_data_sharing_service configuration has been updated to support a user-defined PROJ string as the geolocation reference for SDSM generation, with detection offsets calculated relative to the specified reference.
- The CARMA Streets initialization script now prompts users to select a V2X-Hub version and automatically checks out the specified version during initialization.
- The sensor_data_sharing_service now processes detections with reduced latency and fewer dropped detections.
Fixes
- carma-streets PR #458: Improve CARMAStreetsPlugin parsing of SDSM JSON messages on the v2xhub_sdsm_sub Kafka topic. This eliminates occasional SDSM JSON parsing failures.
- carma-streets PR #457: Add settings necessary to resolve the Kafka broker IP when running V2X Hub on the host network.
Other Updates
Other Existing Repositories
A global parameter override file (GlobalParamsOverride.yaml) has been added to CARMA Config, allowing operators to easily re-configure parameters for packages within CARMA Platform (and its related repositories) without needing to create docker volumes to multiple packages. This update was applied to the following repositories:
Additionally, issues related to the SonarCloud configuration file location and workflow path were fixed in this release. This update was applied to the following repositories:
CARMA Config
In this release, CARMA Config adds a global parameter override file (GlobalParamsOverride.yaml), which makes it easier for operators to re-configure parameters for packages within CARMA Platform (and its related repositories). Additionally, this release includes updates that enable operators to set the ROS log level for CARMA Platform software libraries from CARMA Config. Finally, the Docker Compose files have been updated to provide CUDA access to the carma-platform docker service.
Enhancements
- Add support for a global parameter override yaml file (GlobalParamsOverride.yaml).
- Improve logging paradigm so ROS log level can be set for software libraries within CARMA Platform.
- Enable CUDA access for the carma-platform docker service to support GPU-related functionalities in CARMA Platform.
Other Updates
CARMA Msgs
In this release, ROS message definitions are updated from the SAE J2735 2016 standard to the SAE J2735 2024 standard.
Enhancements
- carma-msgs PR #273: Update SAE J2735 ROS message definitions from the 2016 standard to the 2024 standard.
Fixes
V2X ROS Conversion
In this release, V2X ROS Conversion is updated from the SAE J2735 2016 standard to the SAE J2735 2024 standard. Additionally, README documentation has been improved, and processing of inbound messages has been enhanced to reduce dropped incoming messages.
Enhancements
- Update from the SAE J2735 2016 standard to the SAE J2735 2024 standard.
- Separates inbound and outbound ROS 2 callbacks and increases queue depths to prevent inbound messages from being delayed and silently dropped during outbound processing.
Fixes
Other Updates
V2X ROS Driver
In this release, V2X ROS Driver adds support for MQTT protocol for use with Ettifos OBUs, along with improved documentation throughout the repository. Additionally, as part of this release, V2X ROS Driver has been verified to support SCMS-enabled V2X communications with both Commsignia and Ettifos OBUs.
Enhancements
- Update v2x-ros-driver implementation to support MQTT protocol for use with Ettifos OBUs.
- Update Cohda MK6 OBU setup scripts to enable user to enable/disable security.
Fixes
Other Updates
CARMA Utils
In this release, logging behavior of CARMA Platform is improved and fixed.
Enhancements
- Improves CARMA Platform logging by removing legacy ROS 1 configuration and enabling flexible log-level control for nodes, libraries, and plugin-specific library loggers.
Autoware.Auto and Autoware.AI
In this release, CI is updated to build and test only the packages needed for CARMA Platform, and a build fix is applied for rclcpp logging macros.
Fixes
- autoware.ai PR #297: Build ‘lanelet2_extension’ package with C++17 for compatibility with ROS 2 Humble.
- autoware.auto PR #48: Build ‘tracking’ and ‘tracking_test_framework’ packages with C++17 for compatibility with ROS 2 Humble.
Other Updates
Private Repositories
CARMA Vehicle Calibration
In this release, visualization meshes are added for the work zone geofence and emergency vehicle, and route and map files are added for the black Pacifica.
Enhancements
- carma-vehicle-calibration PR #152: Add meshes for the work zone geofence (orange circles resembling traffic barrels) and emergency vehicle (blue vehicle) to support Rviz visualizations with CARMA Platform. The emergency vehicle is only displayed for the Traffic Incident Management use case.
- carma-vehicle-calibration PR #154: Create a folder for storing demonstration-specific files.
Other Updates
STOL J2735
In this release, J2945 Road Geometry and Attributes message support is added to the 2024 J2735 packages.
Enhancements
- stol-j2735 PR #34: Adds J2945 Road Geometry and Attributes ASN definitions, with a corrected object identifier for compatibility with the J2735 MessageFrame definition.
Other Updates
Version 4.13.0, released July 16th 2026
Summary
The CARMA System 4.13.0 release includes the following significant updates:
- A new XML-RPC server and client pair were added to CDASim for the CARLA–MOSAIC bridge, replacing the original TraCI-based communication.
- An initial version of CDASim's automated regression testing tool was developed as part of an ITS demo, including a PySide6 GUI, a scenario generator, and a scenario runner.
- The CARLA-CARMA bridge in carma-carla-integration migrated from ROS1 to ROS2 (Humble). Every bridge node (external objects, localization, vehicle status, odometry, Ackermann command, route, plugins, guidance, robot status, driver status) was ported from rospy to rclpy, with a new Docker build for the ROS2 stack.
- Carla-sensor-lib went through a CARLA 0.10.0 modernization pass.
- Cdasim-config picked up Town10 EVC configuration and a fix for the move-over-law lane-change scenario.
Changes to Key Existing Repositories
CDASim
CDASim ROS2 Migration
Enhancements
- CDAS-34: New scenario for UGA's ROS2 migration integration testing that excludes EVC-related configuration, since UGA doesn't have EVC access.
- CDAS-22: Added a Town10 MOSAIC scenario to support ROS2 migration Phase 2 integration testing, ahead of the CARLA 0.10.0 upgrade.
- CDAS-101: Added Docker-in-Docker support so CDASim (Ubuntu 18.04) can launch the upgraded NS-3 Federate (Ubuntu 22.04) inside its own container via MOSAIC's DockerFederateExecutor, resolving the Docker Ubuntu version incompatibility introduced by the ROS2 migration.
Other Updates
CDASim CARLA–MOSAIC Bridge
Enhancements
- CDAS-66 / CDAS-69: New XML-RPC server and client implementation for the CARLA–MOSAIC bridge, replacing the original TraCI-based communication.
- CDAS-80: Added a CARLA XML-RPC-based control path through the CarlaAmbassador/AbstractSumoAmbassador/CARLA XML-RPC server, enabling traffic-light sync through MOSAIC driven by either CARLA or SUMO.
CDASim Automated Regression Test Tool
Note: The changes below represent an initial version of the automated regression testing tool, developed as part of an ITS demo. The tool is still under active development and is not yet complete.
Enhancements
- CDAS-65 — Initial GUI for Automated Testing Tool: New PySide6 GUI for managing CDASim: browse a cdasim-config repository, select configurations, set up map/route files, pull Docker images, and build/start/stop simulations.
- CDAS-43: Scenario generator that produces deployment scripts (via YAML + Jinja2) for sequential Docker Compose simulation runs, removing manual setup.
- CDAS-71: Main automation script for CDASim's multi-scenario testing workflow reads test cases from a YAML file, generates scenario-specific docker-compose files, runs each simulation, and collects outputs.
- CDAS-87: Added new log sources for data collection.
Fixes
- CDAS-98: Fixed vehicles "jumping" (visible vertical oscillation) when SUMO-controlled vehicles are mapped into the CARLA 3D world during CARLA-SUMO co-simulation via MOSAIC.
- CDAS-79: Fixed a CARLA version conflict by enabling CARLA to launch via the official CARLA Docker image in a Docker-in-Docker setup, since CDASim itself runs in a container.
- SIM-31: Fixed a bug where a CARMA vehicle's SUMO position was getting an offset applied twice; the CARMA vehicle is now filtered out of that step in the SUMO ambassador.
Other Updates
- CDAS-23: Finalized the SUMO network configuration for the Town10 map so the traffic light system is correctly synchronized with CARLA for co-simulation stability.
- cdasim PR #267: Removed the ns3 docker setup from the docker build.
- cdasim PR #269: Updated CARMA Messenger to support a new test plan.
Carma Carla Integration
This release migrates the CARLA-CARMA ROS bridge from ROS1 to ROS2 (Humble) the largest single piece of work in this release and includes the CI/CD fixes needed to support the new ROS2 branch.
Enhancements
- ROS1-to-ROS2 (Humble) bridge migration (CDAS-30, CDAS-31, CDAS-35, CDAS-44 through CDAS-50, CDAS-52 through CDAS-57, CDAS-61): Ported the external objects, localization, vehicle status/info, odometry, Ackermann command (both directions), route, plugins, guidance, robot status, and driver status nodes from rospy to rclpy, including a new ament_python package structure and a Docker build for ROS2 Humble.
- Pull Requests: carma-carla-integration PR #81, carma-carla-integration PR #84, carma-carla-integration PR #85, carma-carla-integration PR #86, carma-carla-integration PR #87, carma-carla-integration PR #88, carma-carla-integration PR #93, carma-carla-integration PR #94, carma-carla-integration PR #95, carma-carla-integration PR #96, carma-carla-integration PR #97, carma-carla-integration PR #98, carma-carla-integration PR #99, carma-carla-integration PR #100, carma-carla-integration PR #101, carma-carla-integration PR #102, carma-carla-integration PR #104, carma-carla-integration PR #105, carma-carla-integration PR #106, carma-carla-integration PR #108
Fixes
- carma-carla-integration PR #103: Fixed CI/CD builds by including the develop-ros2 branch in GitHub Actions triggers (ci.yml, docker.yml, dockerhub.yml) and adding a suffix-replace argument that swaps -ros2 for -noetic.
- carma-carla-integration PR #113: Updated the Sonar workflow and renamed the properties file to sonar-project.properties to align with the shared usdot-fhwa-stol/actions sonar-scanner action.
Other Updates
- ARC-205: Renamed j2735_msgs and j322_msgs packages after they were merged into j2735_v2x_msgs and j3224_v2x_msgs in carma-msgs.
- CDAS-62: Integration testing of the carma-carla-bridge and carla-ros2-bridge against the CARMA platform and CARLA sim environment.
- CDAS-83: ROS2 migration Phase 2/3 integration testing.
- carma-carla-integration PR #114: Merge ROS2 upgrades into develop.
Cdasim Config
This release adds Town10 configuration with the move-over-law lane-change scenario.
Enhancements
Fixes
- cdasim-config PR #57: Fixed the move-over-law scenario in Town10 by correcting lanelet linestring/buffer configuration so all expected lane-change areas are properly marked.
- CAR-6128: Fixed the Google Maps API key for the UI; the key was previously exposed directly and wasn't working, the new key is now pulled from a private repo.
Other Updates
- cdasim-config PR #51, cdasim-config PR #49: Replaced Docker Hub automated builds with GitHub Actions Docker builds for xil-town10 and for cdasim-config generally.
- CDAS-122: Updated EVC config, docker compose file, and localhost.sql for Town10.
- cdasim-config PR #52: Updated docker-compose configuration.
- cdasim-config PR #33: Brought the development folder up to date with ROS2 (Humble upgrade work), removed extra folders.
- cdasim-config PR #56: Updated CARMA Messenger configuration settings to support an updated test plan.
- TT-174: Updated the README with instructions for placing and using the PyEOS bundle file in EVC-SUMO.
- cdasim-config PR #50: Merge ROS2 upgrade into develop.
Carma NS3 Adapter
Enhancements
- CDAS-74: Added support for a global parameter override YAML file in carma-config, so map- or scenario-specific parameter overrides can be version-controlled.
- CDAS-38: Added a new registration sender script.
Carla Sensor Lib
Enhancements
- CDAS-70 — Carla Sensor Lib Carla 0.10.0 Modernization: Removed the y-axis negation workaround that was needed for the old API, replaced the deprecated upper_fov/lower_fov attributes with horizontal_fov, and adopted the new carla.SemanticLidar API.
Other Updates
- carla-sensor-lib PR #24: Updated docker network configuration and removed an unsafe logging call ahead of phase 3 network testing and added CARLA 0.10.0 configuration support.
Version 4.11.0, released Aug 14th, 2025
<strong>Summary</strong>
The CARMA System 4.11.0 release includes the following significant updates:
- Enhancements have been made to CARMA Platform’s cooperative perception pipeline and planning nodes to enable it to correctly process and yield to objects based on received Sensor Data Sharing Messages (SDSMs) as part of live vehicle field testing. This has been tested using a pedestrian dummy and a smart infrastructure system running V2X Hub version 7.10.0.
- The CARMA Messenger UI for Traffic Incident Manager has been updated to be more interactive for users.
- Scripts have been added to CARMA Platform’s repository to support creating, transforming, and rotating Lanelet2 (.osm) and OpenDrive (.xodr) maps to support testing of specific road networks at different test locations.
- A new automation workflow has been added to all repositories, which sends an email to Cavsu.nosp@m.ppor.nosp@m.tserv.nosp@m.ices.nosp@m.@dot..nosp@m.gov when a GitHub issue is created by an external user.
- Note: Software in release CARMA System 4.11.0 was tested against V2X Hub release 7.10.0.
## Changes to Key Existing Repositories
### CARMA Cloud
In this release, the deployment configuration for CARMA Cloud is updated. Updates include adding environment variables for default user credentials of the CARMA Cloud instance. Additionally, a volume has been added to the JSON files required to load an OpenDrive (.xodr) map file.
Enhancements
### CARMA Platform
In this release, enhancements and fixes are added to CARMA Platform’s planning nodes to [1] enable the ego vehicle to yield to objects based on received SDSMs in real world field testing and [2] enable parallel processing of various callbacks. Item [1] was initially part of the CARMA System 4.5.0 release, which was tested in CDASim. In this CARMA System 4.11.0 release, this functionality has been tested in the real world with a pedestrian dummy.
Additionally, scripts are added to create, transform, and rotate Lanelet2 (.osm) maps and OpenDrive (.xodr) maps to support testing of specific road networks at different test locations.
Enhancements
- Yield to VRU using cooperative perception (with SDSMs): This includes all enhancements required to enable CARMA Platform to receive and process received SDSMs and yield if necessary. These enhancements have been field tested using outputs from a FLIR Camera, which are processed by V2X Hub and CARMA Streets. All field testing was conducted with a pedestrian dummy.
- Lanelet2 and OpenDrive Map Creation and Transformation: This includes all enhancements to enable Lanelet2 (.osm) maps to be created from scratch and for Lanelet2 and OpenDrive (.xodr) maps to be edited (trimming, shifting, rotating around a new reference point, etc.).
- CDASim Live Training: Improvements to aws instance scripts for CDASim deployment in the cloud with better user experience.
Fixes
Planning nodes’ (arbitrator and plan_delegator) parallel processing improvements: These changes allow planning nodes to correctly update the vehicle state such as location and speed while waiting for response from the tactical plugins:
Other
Other Updates
### CARMA Messenger
In this release, the CARMA Messenger UI is updated to enable a more interactive Traffic Incident Management (TIM) interface. TIM message can now be broadcasted using GPS location from either TORC pinpoint driver or selected zones on Google Maps.
NOTE: Multiple lane selection of UI is not connected to the back end and only broadcasts the main lane’s info as TIM message.
Enhancements
- Add interactive UI design for CARMA Messenger that lets the user select TIM zones on Google Maps:.
Other Updates
### CARMA Streets
The main update in this release for CARMA Streets is that Sensor Data Sharing Service was updated to support TraffiSense 2 FLIR Camera Pedestrian Presence detection data for generating Sensor Data Sharing messages (J3224). Several enhancements and fixes were also implemented because of TFHRC and Summit Point Testing.
Enhancements
- CDAD-130: Enable infrastructure to consume TraffiSense 2 FLIR Camera Pedestrian Detection data and generate Sensor Data Sharing Messages (J3224) for Cooperative Perception.
- TT-91: CARMA Streets MMITSS integration (beta)
- FCP-1: CARMA Streets MUST Sensor integration fixes and improvements in sensor_data_sharing_service for Cooperative Perception (beta)
Fixes
Other Updates
## Other Existing Repositories
Email Notification When a GitHub Issue is Created
- For the following existing repositories, this release added a new automation workflow that sends an email to **Cavsupportservices
.gov** when a GitHub issue is created by an external user:
1.9.4