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Package Summary

Tags No category tags.
Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/usdot-fhwa-stol/carma-platform.git
VCS Type git
VCS Version develop
Last Updated 2025-04-02
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The CARMA Platform cooperative perception package

Additional Links

No additional links.

Maintainers

  • carma

Authors

No additional authors.

CARMA cooperative perception stack

The carma_cooperative_perception package contains the cooperative perception stack used in CARMA Platform. It wraps the multiple_object_tracking library in a ROS 2 interface. The stack provides two main functionalities. The multiple object tracking functionality aggregates object data from incoming Sensor Data Sharing Messages (SDSMs), Basic Safety Messages (BSMs), and local sensors. The sensor data sharing functionality broadcasts SDSMs containing object data generated by the host’s local sensors. Parts of the stack can be disabled to support CARMA Platform vehicles with different sensor and computational capabilities. CARMA Platform deployments that include this package can collaborate with other agents that also share object tracking information to compose a cooperative perception network.

[!IMPORTANT]
Current limitations: The package currently does not support BSMs.

CMake options

The table below contains package-specific CMake options.

Option Default value Description
carma_cooperative_perception_BUILD_TESTS ${BUILD_TESTING} Build the package’s tests.

Documentation

For information about the package’s nodes, launch configurations, and other ROS 2 specific items, check out the package design page. For details about the CARMA cooperative perception stack in general, check out the stack design page.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake_auto
carma_cmake_common
carma_cooperative_perception_interfaces
carma_perception_msgs
carma_ros2_utils
j2735_v2x_msgs
j3224_v2x_msgs
carma_v2x_msgs
rclcpp
tf2_geometry_msgs
multiple_object_tracking
std_msgs
visualization_msgs
rosgraph_msgs
ament_cmake
ament_lint_auto
ament_lint_common
ament_cmake_clang_format
ament_cmake_gtest
carma_launch_testing
carma_message_utilities
launch_testing
launch_testing_ament_cmake
rclcpy
lanelet2_core
lanelet2_extension

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged carma_cooperative_perception at Robotics Stack Exchange

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