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.
trajectory_executor

The trajectory_executor node is responsible for ensuring that a Trajectory Plan planned by the Guidance Tactical Plugins components and published by the Plan Delegator is executed faithfully by the Control Plugin components.

Link to detailed design document on Confluence: Click Here