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.
platooning_control

Platooning Control plugin which allows platooning to maintain the gap; moreover, generates longitudinal and lateral control commands to follow the trajectory. The structure of this plugin is very similar to the control plugin for IHP2, so the same design document is included here.

Overview https://usdot-carma.atlassian.net/wiki/spaces/CUCS/pages/2392981532/Basic+Travel+and+IHP

Design https://usdot-carma.atlassian.net/wiki/spaces/CRMPLT/pages/2138767361/IHP2+Platooning+Plugin