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.
Roadway objects Package

The roadway_objects node is responsible for processing objects contained within a received carma_perception_msgs/msg/ExternalObjectsList message and mapping each object to a lanelet that it is located within. After mapping each object to a lanelet, this information is published to the CARMA system in a carma_perception_msgs/msg/RoadwayObstacleList message.

Link to detailed design document on Confluence: Click Here

Documentation

For information about the Package's Nodes, Launch configurations, and other ROS 2 specific items, check out the package design page.