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.
port_drayage_plugin

The Port Drayage Plugin is a ROS node within CARMA Platform that supports freight port drayage operations. It is responsible for handling all port drayage-related communication with V2X-Hub, and for facilitating interactions with other ROS nodes (primarily the route node) within CARMA Platform in order for the vehicle to execute port drayage operations successfully.

Link to detailed design document on Confluence: Click Here