Maliput

Description

A C++ runtime API describing a Road Network model for use in agent and traffic simulations. It guarantees a continuous description of the road geometry and supports dynamic environments with varying rules states.

For a full overview of Maliput capabilities please visit https://maliput.readthedocs.io/en/latest/maliput_overview.html.

API Documentation

Refer to Maliput’s Online API Documentation.

Examples

Getting Started page is a good place for starting to see the Maliput’s capabilities.

There are a couple of packages where the Maliput’s API is exercised.

• maliput_integration: Concentrates applications created for maliput. See maliput_integration’s tutorials.
• delphyne_demos: Contains demos based on delphyne, which is an agent simulation framework that uses maliput as the road network model. See delphyne_demos.

Installation

Supported platforms

Ubuntu Focal Fossa 20.04 LTS.

Binary Installation on Ubuntu

See Installation Docs.

Source Installation on Ubuntu

Prerequisites

sudo apt install python3-rosdep python3-colcon-common-extensions

Build

1. Create colcon workspace if you don’t have one yet.

    mkdir colcon_ws/src -p
    

1. Clone this repository in the src folder

    cd colcon_ws/src
    git clone https://github.com/maliput/maliput.git
    

1. Install package dependencies via rosdep

    export ROS_DISTRO=foxy
    

    rosdep update
    rosdep install -i -y --rosdistro $ROS_DISTRO --from-paths src
    

1. Build the package

    colcon build --packages-up-to maliput
    

**Note**: To build documentation a `-BUILD_DOCS` cmake flag is required:

    colcon build --packages-select maliput --cmake-args " -DBUILD_DOCS=On"
    

For further info refer to Source Installation on Ubuntu

For development

It is recommended to follow the guidelines for setting up a development workspace as described here.

Profiling maliput

maliput is able to run a profiler for evaluating performance. It is implemented via ign-common3’s profiler component.

In order to avoid any performance drop and to keep maliput dependency chain clean, this is disabled by default and the binaries aren’t distributed with the profiler enabled.

For having the profiler enabled when using maliput, it is mandatory to install maliput from source.

Steps

1. Install prerequisites. ign-common3 is not installed via rosdep as the profiler is only run on demand:

    sudo apt install libignition-common3-profiler-dev
    

1. Build maliput package using MALIPUT_PROFILER_ENABLE cmake argument: Continue the Source-Installation-on-Ubuntu instructions. The only difference is:

```

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Changelog for package maliput

1.5.0 (2025-05-21)

• KdTree Strategy: Register points at boundaries (#651)
• BCR: Add a maintainer (#650)
• Contributors: Franco Cipollone

1.4.2 (2025-05-14)

• Improve ComputeSampleStep impl in obj optimized generation. (#648)
• Contributors: Franco Cipollone

1.4.1 (2025-04-22)

• Bazel: Bumps eigen to 3.4.0.bcr.1.1 (#646)
• Contributors: Franco Cipollone

1.4.0 (2025-03-07)

• Add maliput::api::RoadGeometry::BackendCustomCommand. (#643)
• Extends bazel matrix for bcr_test_module. (#642)
• Contributors: Franco Cipollone, Santiago Lopez

1.3.1 (2024-10-26)

• hash: include <cstdint> (#640) The <cstddef> doesn't imply <cstdint> and the hashing modules use uint8_t which is provided by <cstdint>. This commit adds includes to <cstdint> to the maliput_hash.h file and the drake hash.h file to ensure that fixed-width integers like uint8_t are available.

• Provides another function to include route signaling in DOT graphs when adding routes (#639)

  • Provides another function to include route signaling in graphs when serialized via DOT streams.

• Adds the filter to remove routes with lane changes when RoutingConstraints::allow_lane_switch is false. (#638)

• Adds a function that allows to export a routing::<graph::Graph> as a dot file. (#637)

• Modifies the DistanceRouter to consume the graph and provide multi-Lane routes. (#636)

• Graph tools to perform route queries with Segments. (#635)

  * Graph tools to perform route queries with Segments. Router implementations will be able to use this tools such that they can get the set of of Lanes per Phase in Routes that connect point A with point B.

• Route part four - DistanceRouter (#619)

  • Provides an implementation for Router.
  • The router is based on a distance cost function.
  • Inflation of the routes to embrace lateral lanes is a TODO.

• Adds validation of end to end connectivity to Routes (#628)

• Fix typos in routing. (#634)

• Update github action versions. (#633)

• Adds bazel version to the matrix to avoid presubmit checks to fail. (#631) Example: https://buildkite.com/bazel/bcr-presubmit/%60builds/5047#018 <<https://github.com/builds/5047/issues/018>>`_f2e0c-4d57-4a32-a0d4-b787aa479da9

• Fix scan_build errors. (#632)

  • Fix scan_build errors.

  * Fix format. ---------

• Contributors: Agustin Alba Chicar, Viktor Kronvall

1.3.0 (2024-04-29)

• Add fresnel functions (#629)
• Contributors: Agustin Alba Chicar

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