With the evolution of communication and sensing devices, in addition to connected and autonomous vehicles, real-time information about the status of the roads can become a reality. This paper presents a proposal of a Collective Perception Service (CPS), a system defined by the European Telecommunications Standards Institute (ETSI), which aims at enabling Intelligent Transport Systems (ITSs) to cooperate and exchange information about road users, obstacles on the road, and sensing information, through Collective Perception Messages (CPMs). The proposed system is able to join the information of the communication messages and the data from the different sensors, such as LiDAR, radars, and video cameras. The CPS is evaluated and tested in real-world scenarios in a connected city infrastructure. Results show that CPS allows Intelligent Transport System Stations (ITS-Ss) to cooperate and exchange information regarding perceived objects in a timely manner. A temporal analysis outlined the influence of the message size on the CPM dissemination process and the need for a mechanism that decides if specific information shall be sent in the CPM. Finally, the scalability tests showed the effect of network congestion, testing the system’s limits in the selected hardware.