ROS Index
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | 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. Doxygen Source Code Documentation : |
| Checkout URI | https://github.com/usdot-fhwa-stol/carma-platform.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2025-04-22 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | open-source cpp ros autonomous-driving autonomous-vehicles self-driving cooperative-driving-automation automated-vehicles |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- carma
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.
Wiki Tutorials
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 |