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.

Contributing

Please see CONTRIBUTING page.

License

Changelog for package maliput

1.0.9 (2022-11-28)

• Provides default populated discrete and range value rule state providers. (#533)
• Adds a default populated ManualPhaseProvider. (#530)
• Maliput Plugin: Adds interface for providing default parameters from the backends (#532)
• Contributors: Franco Cipollone

1.0.8 (2022-11-10)

• Brings range validator from maliput_malidrive. (#529)
• Update triage.yml (#526)
• Adds convenient test utility method. (#525)
• Adds a test function for LaneEnds. (#524)
• Adds IsLanePositionResultClose macro. (#522)
• Contributors: Agustin Alba Chicar, Franco Cipollone

1.0.7 (2022-09-14)

• Modifies ToLanePosition and adds ToSegmentPosition. (#521)
• Contributors: Franco Cipollone

1.0.6 (2022-08-16)

• Implements KDTree::RangeSearch method. (#520)
• Adds AxisAlignedBox. (#519)
• Brings BoundingRegion\'s related stuff from maliput_object. (#518)
• Adds KDTree to maliput::math. (#515)
• Contributors: Franco Cipollone

1.0.5 (2022-07-26)

• Provides convenient method for loading a RN via plugins. (#512)
• Adds triage workflow. (#513)
• Improves README. (#511)
• Update README.md with new github.com/maliput URLs (#510) Needed due to the transition to the \"maliput\" organization. Also refer developers to new documentation website.
• Contributors: Chien-Liang Fok, Franco Cipollone

1.0.4 (2022-06-13)

• Fixes include folder installation. (#508)
• Uses ros-action-ci in build.yaml workflow. (#505)
• Contributors: Franco Cipollone

1.0.3 (2022-06-08)

• moving maliput to the root (#506)
• Contributors: Tully Foote

1.0.2 (2022-06-06)

• Preparing for binary release

1.0.1 (2022-06-02)

* Preparing for binary release

1.0.0 (2021-0X-XX)

• First official release