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approaching_emergency_vehicle_plugin package from carma-platform repo

approaching_emergency_vehicle_plugin approximate_intersection arbitrator basic_autonomy bsm_generator carma carma_cloud_client carma_cooperative_perception carma_guidance_plugins carma_wm carma_wm_ctrl cooperative_lanechange frame_transformer gnss_to_map_convertor guidance inlanecruising_plugin intersection_transit_maneuvering lci_strategic_plugin light_controlled_intersection_tactical_plugin lightbar_manager localization_manager mobilitypath_publisher mobilitypath_visualizer mock_controller_driver motion_computation motion_prediction_visualizer object_detection_tracking object_visualizer plan_delegator platooning_control platooning_strategic_ihp platooning_tactical_plugin points_map_filter port_drayage_plugin pure_pursuit_wrapper roadway_objects route route_following_plugin sci_strategic_plugin stop_and_dwell_strategic_plugin stop_and_wait_plugin stop_controlled_intersection_tactical_plugin subsystem_controllers system_controller traffic_incident_parser trajectory_executor trajectory_follower_wrapper trajectory_visualizer yield_plugin

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Package Summary

Tags	No category tags.
Version	5.0.0
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	2025-07-31
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	open-source cpp ros autonomous-driving autonomous-vehicles self-driving cooperative-driving-automation automated-vehicles
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The approaching_emergency_vehicle_plugin package

Additional Links

No additional links.

Maintainers

carma

Authors

No additional authors.

approaching_emergency_vehicle_plugin/README.md

approaching_emergency_vehicle_plugin

The Approaching Emergency Vehicle Plugin is a ROS2 node and is one of the strategic plugins in the CARMA System. The plugin is responsible for processing incoming BSMs to determine whether a nearby active emergency resonse vehicle (ERV) exists, and for generating maneuvers that account for an approaching (i.e. will eventually pass the ego vehicle on the same stretch of road) ERV.

Link to detailed design document on Confluence: Detailed Design - Approaching Emergency Vehicle Strategic Plugin

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	carma_cmake_common
	ament_auto_cmake
	ament_cmake
	launch
	launch_ros
	ament_lint_auto
	ament_cmake_gtest
	rclcpp
	carma_ros2_utils
	rclcpp_components
	std_msgs
	std_srvs
	carma_guidance_plugins
	carma_v2x_msgs
	carma_planning_msgs
	carma_msgs
	geometry_msgs
	carma_wm
	lanelet2_core
	lanelet2_extension

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

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Services

No service files found

Plugins

No plugins found.

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API Docs Browse Code

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