maliput package from maliput repo


Package Summary

Tags No category tags.
Version 1.2.0
License BSD Clause 3
Build type AMENT_CMAKE

Repository Summary

Checkout URI
VCS Type git
VCS Version main
Last Updated 2024-01-04
CI status No Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description


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  • Daniel Stonier


No additional authors.

GCC codecov



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

API Documentation

Refer to Maliput's Online API Documentation.


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.


Supported platforms

Ubuntu Focal Fossa 20.04 LTS.

Binary Installation on Ubuntu

See Installation Docs.

Source Installation on Ubuntu


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


  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

  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.


  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:
    colcon build --packages-select maliput --cmake-args " -DMALIPUT_PROFILER_ENABLE=On"

  1. Run an application with your preferred maliput backend. In another terminal, open the visualizer for the profiler:

_Note: As it opens a browser using `xdg-open`, it is recommended to have installed `xdg-utils` and a browser: (e.g: `sudo apt install -y xdg-utils firefox`)_.


Please see CONTRIBUTING page.




Changelog for package maliput

1.2.0 (2023-01-03)

  • [infra] templates for bcr release automation (#621)
  • [infra] create a release archive with a stable url (#621)
  • [bazel] yaml-cpp and tinyxml2 from the bcr instead of the fork (#620)
  • Route part three (#557)
  • Adds FindLaneSequence() overload that removes sequences with U-turns. (#618)
  • Unifies doxygen style in favor of using @ instead of [ . (]{.title-ref}#615 <>`_)
  • Updates ros-tooling version to avoid error with dependency. (#616)
  • Hide drake headers (#603)
  • Adds buid flags as in maliput_malidrive to pair builds. (#613)
  • Builds test_utilities no matter BUILD_TESTING flag. (#612)
  • Adds workflow dispatch for sanitizers and scan build. (#596)
  • Fix sanitizers (#611)
  • Completes the section about tolerances and scale length in the design document (#558)
  • Fixes bazel version not being correctly set. (#610)
  • Builds test_utilities with bazel. (#608)
  • Removes maliput test_utilities old compare methods (#607)
  • Fixes NextPhase compare method. (#606)
  • Removes gmock use from test_utilities. (#605)
  • Uses new compare machinery instead of test_utilities (#601)
  • Decouples test_utilities compare methods (#600)
  • Excludes drake from codecov. (#599)
  • Adds tests for BranchPoint and LaneEndSet api. (#553)
  • Decouples routing compare methods. (#597)
  • Updates configuration of codecov (#598)
  • Decouples maliput types compare methods from test. (#595)
  • Decouples maliput math compare methods from test. (#592)
  • Remove extra macro MALIPUT_USED. (#590)
  • Adds missing linking from maliput::drake::analysis to trajectories. (#589)
  • Adds missing ament_export_dependencies for eigen package. (#587)
  • Enables CI workflow run on main branch push. (#588)
  • Fix missing bazel linkopt to experimental std++fs library (#584)
  • Build on PR only, not push (#581)
  • Correct codespace container selection in the devcontainer readme (#578)
  • Removes code from common and systems that is unused. (#575)
  • ci job for bazel build (#577)
  • Local and CI Containers (#574)
  • Migrate maliput_drake into maliput (#571)
  • Removes fmt. (#570)
  • Removes fmt from logger. (#568)
  • [infra] bzlmodded (#560)
  • Removes fmt from tests. (#563)
  • Removes fmt from utility library. (#567)
  • Implements the Route::ComputeLaneSRelation (#555)
  • Removes unnecessary gflags dependency. (#559)
  • Partially implements and tests Route. (#554)
  • Adds Phase implementation and test. (#550)
  • Adds codecov. (#552)
  • Routing constraints implementation (#549)
  • [Routing] Initial public API proposal. (#546)

    ---------Co-authored-by: Franco Cipollone <>

  • Contributors: Agustin Alba Chicar, Daniel Stonier, Franco Cipollone

1.1.1 (2023-03-13)

  • Provides LaneSRange::GetIntersection method. (#542)
  • Contributors: Franco Cipollone

1.1.0 (2023-02-08)

  • Adds dimension static const to vector class. (#541)
  • Fixes logger-level-0ff behavior. (#540)
  • Adds maliput profiler (#538)
  • Provides a default ToRoadPosition/FindRoadPosition implementations using kdtree data structure (#517)
  • PhaseRingBookLoader supporting empty rules for the phases. (#536)
  • Provides new-rule-api compatible RoadNetwork\'s constructor. (#535)
  • Contributors: Franco Cipollone

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 with new 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

Wiki Tutorials

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