The Connected and Automated Vehicles (CAVs) technology is in continuous growth, especially during the last decade. Accordingly, the development of the V2X protocols grasps the attention of many researchers. However, there is a gap in structuring a holistic architecture that considers the individual agent modules in the transportation system along with their cooperation, especially in the decision-making layer. Thus, the main contribution of this article is to build a Robotics Operating System (ROS)-based architecture, simulating the interaction between the infrastructure and the car agents. The architecture is designed with some essential characteristics: configurable, modular, comprehensive, usable, and generic. In the architecture, the car agent is built to include four main modules to accomplish a high level of autonomy; Localization, Planning, Control, and communication. Meanwhile, the road agent is composed of two modules; mapping and communication. Both agents are considered ROS nodes that can communicate through custom ROS messages through Service/Client architecture using developed V2I protocols. These protocols are responsible for registering the car while joining the road and assigning a unique identifier to each joined car. Moreover, the road assigns the desired speed suiting the road profile and a lane to be kept by the car. The architecture is verified on a designed track map on Webots simulator. A case study of 10 heterogeneous cars is demonstrated to observe the architecture performance. The architecture showed promising results, successfully controlling the cars along with the designed map with acceptable error via the V2I protocols, allowing a human-like driving experience.