maliput_multilane

Description

maliput_multilane is an implementation of Maliput’s API that allows users to instantiate a road network with the following relevant characteristics:

• Multiple Lanes are allowed per Segment.
• Constant width Lanes.
• Segments with lateral asphalt extensions, aka shoulders.
• Line and Arc base geometries, composed with cubic elevation and superelevation polynomials.
• Semantic Builder API.
• YAML based map description.
• Adjustable linear tolerance.

The number of lanes and their lengths, widths, and shoulder widths are all user specifiable.

Note: For full information about Maliput please visit Maliput Documentation.

Resources

maliput_multilane provides several map resources at maliput_multilane/resources. These resources are YAML files that contains a description for the road geometry creation. Some of them, also describe maliput’s road network information like: Range Value Rules, Discrete Value Rules, Traffic Lights, Phase Rings, Intersections, etc.

Resources are installed natively, so the users are able to use them for their own interest. In order to get the installation path check the environment variable: MULTILANE_RESOURCE_ROOT.

API Documentation

Refer to Maliput Multilane’s Online API Documentation.

Examples

Getting Started page is a good place for starting to see Maliput’s capabilities and how to use a Maliput backend for getting a road network.

• maliput_integration: Concentrates applications created for maliput. See maliput_integration’s tutorials. These applications allow to select maliput_multilane as the backend.
• maliput_integration_tests: maliput_multilane is used extensively for the maliput integration tests.

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_multilane.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_multilane
    

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

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

More info at [Building Documentation](https://maliput.readthedocs.io/en/latest/developer_guidelines.html#building-the-documentation).

For further info refer to Source Installation on Ubuntu

For development

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Changelog for package maliput_multilane

0.1.5 (2023-04-13)

• RoadGeometry::FindRoadPositions: Uses maliput-provided base method. (#101)
• Provides plugins for both builders and improves params configuration. (#99)
• Contributors: Franco Cipollone

0.1.4 (2022-12-12)

• Implements interface for providing default parameters via plugin. (#98)
• Updates triage workflow. (#96)
• Contributors: Franco Cipollone

0.1.3 (2022-09-14)

• Matches with changes in Maliput: Lane::ToLanePosition. (#95)
• Contributors: Franco Cipollone

0.1.2 (2022-07-29)

• Fixes test utilities (#93)
• Adds triage workflow. (#92)
• Improves README. (#91)
• Contributors: Franco Cipollone

0.1.1 (2022-07-01)

• Fixes environment hooks. (#90)
• Fixes dependency on environment variables. (#89)
• Contributors: Franco Cipollone

0.1.0 (2022-06-16)

• Updates package.xml.
• Suppresses old-rule-api-related warnings. (#88)
• Fixes include folder installation. (#87)
• Relies on compile definitions for testing instead of env vars. (#86)
• Updates license. (#85)
• Uses ament_export_targets. (#84)
• Removes dashing support. (#83)
• Updates IntersectionBook construction points to include the RoadGeometry pointer. (#82)
• Adds BUILD_DOCS flag as opt-in flag (#81)
• Matches with change in maliput's phase ring book loader. (#80)
• Adds workflow_dispatch to other workflows. (#79)
• Adds CI badges (#78)
• Replaces push by workflow_dispatch event in gcc build. (#77)
• Extends RoadNetworkLoader plugin to include yaml descriptions and OnrampMerge implementation. (#76)
• Fixes MALIPUT_PLUGIN_PATH new path. (#75)
• Change install path of the maliput plugin. (#74)
• Use maliput drake (#73)
• Makes multilane to link privately against drake (#72)
• Remove eigen_compare_matrices.h (#71)
• Use maliput math instead of drake (#70)
• Hide drake types part 2 (#69)
• Hide drake types part 1 (#68)
• Enable doxygen verification. (#66)
• Replaces AMENT_CURRENT_PREFIX by COLCON_PREFIX_PATH (#65)
• Removes ament_target_dependencies macro. (#64)
• Set up linker properly when using clang in CI. (#63)
• Remove references to GnuInstallDir vars. (#62)

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