The current scarcity of viable simulation solutions for cooperative and connected driving research is one of the main reasons to start dedicating efforts to generate robust validation environments. Most current simulators focus on the egocentric perspective of the automated vehicle, with cooperative information being either non-existent or difficult to access. If soon the industry migrates towards connectivity and cooperation paradigms, it will then be necessary to build simulation environments to validate the cooperative behaviors that arise from the interactions between traffic agents. This work focuses on the possibilities offered by Carla simulator integrated with ROS framework for multi-agent simulation and arbitration capabilities between intelligent infrastructure and automated connected vehicles. By combining a wide variety of methodologies, the solution proposed in this work allows generating an effective validation framework for coordinated and autonomous cooperative driving.