U.S. flag An official website of the United States government.
Official websites use .gov

A .gov website belongs to an official government organization in the United States.

Secure .gov websites use HTTPS

A lock ( ) or https:// means you've safely connected to the .gov website. Share sensitive information only on official, secure websites.

i

CARMA Platform Version 4.10.0 [supporting software]

File Language:
English


Select the Download button to view the document
This document file type cannot be previewed

Details

  • Corporate Creators:
    United States. Department of Transportation. Federal Highway Administration. Office of Research, Development, and Technology
  • Contributors:
    Bairamoni, Saikrishna
  • Corporate Contributors:
    United States. Department of Transportation. Federal Highway Administration. Turner-Fairbank Highway Research Center
  • Subject/TRT Terms:
  • Resource Type:
    Software
  • Right Statement:
    Public Domain
  • Geographical Coverage:
    United States
  • Edition:
    Version 4.10.0
  • Corporate Publisher:
    United States. Department of Transportation. Federal Highway Administration. Office of Research, Development, and Technology
  • Abstract:
    The Federal Highway Administration (FHWA) developed the innovative CARMASM Platform to encourage collaboration with the goal of improving transportation efficiency and safety. FHWA's interest in advancing Transportation Systems Management and Operations (TSMO) strategies with automated driving technology is focused on how infrastructure can move traffic more efficiently. CARMA enables Automated Driving Systems (ADS) to navigate more safely and efficiently with other vehicles and roadway infrastructure though communication and cooperation. CARMA was designed using open source software (OSS) and is available on GitHub. The unique platform was created to work collaboratively with any vehicle, hardware, or control system. By simplifying software development and providing access to increased functionality and a community of developers, CARMA enables the research and development (R&D) of cooperative automated driving system (CADS) capabilities to support TSMO. CARMA also will develop a concept of operations for new TSMO strategies, such as identifying Traffic Incident Management (TIM) scenarios that provide new strategies for first responder use cases interacting with ADS. This research will accelerate market readiness and the deployment of cooperative automated driving technology, while advancing safety, security, data, and artificial intelligence. Beyond reducing traffic congestion and improving transportation safety, CARMA will support industry collaboration and expand on existing automation capabilities to reduce R&D time and advance cooperative automated driving technology. CARMA promotes collaboration and participation from communities of engineers and researchers to advance the understanding of cooperative automated driving using OSS and agile project management practices.

    The CARMA System 4.10.0 release includes the following significant updates:

    Updated CARMA Platform, CARMA Messenger, and their related repositories to ROS 2 Humble. Created a new ‘v2x-ros-conversion’ repository, which handles the conversion between UPER-encoded SAE J2735 messages and their ROS message formats. This allows users to leverage a lightweight standalone service for integrating SAE V2X messages in their ROS 2 systems. Replaced the manually compiled message encoder (originally stored in CARMA Messenger) with a new SAE J2735 message encoder and decoder library called ‘STOL J2735’, installable as a Debian Package. This improves dependency management by including versioning information with the package, guaranteeing compatibility for tools that install the same version of the package. It also provides CMake installation configuration files to simplify the process to include this package in new tools. Lastly, it eliminates the need for separate tools to recompile the same library separately, reducing build duplication and time required for building our tools. Added a prototyped ‘Trajectory Follower Wrapper’ control plugin, which wraps the official Autoware.Universe Trajectory Follower control algorithm, to CARMA Platform. Improved the CI/CD workflows for multiple repositories.

  • Content Notes:
    CARMA is licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0. Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

    National Transportation Library (NTL) Curation Note: This dataset has been curated to CoreTrustSeal's curation level "A. Active Preservation". To find out more information on CoreTrustSeal's curation levels, please consult their "Curation & Preservation Levels" CoreTrustSeal Discussion Paper" (https://doi.org/10.5281/zenodo.11476980). NTL staff last accessed this dataset at its repository URL on 2026-02-12. If, in the future, you have trouble accessing this dataset, please submit your question at https://transportation.libanswers.com. NTL staff will do its best to assist you at that time.

  • Format:
    ZIP
  • Collection(s):
  • Main Document Checksum:
    urn:sha-512:606e670ca344dc63e3adb543cb354524ee01cfe14e93dbc88239b8142cdbe08ec9108c68f0ed34ecb32edb2657fccd38e6851a55422cfd17afb5d342763126f9
  • Download URL:
  • File Type:
    Filetype[ZIP - 10.89 MB ]
PREVIOUS
File Language:
English
ON THIS PAGE
Details
ROSA P serves as an archival repository of USDOT-published products including scientific findings, journal articles, guidelines, recommendations, or other information authored or co-authored by USDOT or funded partners. As a repository, ROSA P retains documents in their original published format to ensure public access to scientific information.
BACK TO TOP