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.
guidance

The Guidance node is a ROS node is responsible for guidance state machine management and for providing a pass-through service to invoke the system enable command from the UI.

Link to detailed design document on Confluence: Click Here