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.
mobilitypath_publisher

The mobilitypath_publisher package contains a node that subscribes to trajectory plan data published by the Plan Delegator node. Using the received trajectory plan data, the mobilitypath_publisher node composes a MobilityPath message containing an origin point and a list of trajectory points relative to the origin point in the ECEF frame. This node then publishes the composed MobilityPath message.

Link to Confluence documentation: https://usdot-carma.atlassian.net/wiki/spaces/CRMPLT/pages/1320452241/Detailed+Design+-+Mobility+Path+Publication