maliput_osm

Description

maliput_osm package is a Maliput backend implementation. Its underlying format specification is based on OSM-lanelet2 format. Allowing the users to load a road network out of a OSM file description.

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

Resources

maliput_osm provides several map resources at maliput_osm/resources/osm. These resources are:

• OSM files for describing different road networks using OSM-lanelet2 format specification.
• YAML files for describing maliput’s road network information of type: 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: MALIPUT_OSM_RESOURCE_ROOT.

API Documentation

Refer to Maliput osm’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_osm as the backend.

Installation

Supported platforms

Ubuntu Focal Fossa 20.04 LTS, ROS2 Foxy.

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_osm.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_osm
    

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

    colcon build --packages-select maliput_osm --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

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_osm

0.2.2 (2023-04-13)

• Adds Town01 map. (#52)
• Contributors: Franco Cipollone

0.2.1 (2023-01-08)

• Matches with changes in maliput_sparse. (#51)
• Standardize parameters' documentation for the builder. (#50)
• Contributors: Franco Cipollone

0.2.0 (2022-12-13)

• Consumes RoadNetworkLoader from maliput_sparse. (#30)
• Use SPDX identifier in license tag. (#48) This updates the license tag to use the SPDX identifier for the 3 clause BSD license: https://opensource.org/licenses/BSD-3-Clause
• Contributors: Franco Cipollone, Steven! Ragnarök

0.1.0 (2022-11-29)

• Uses default providers offered by maliput base. (#47)
• Provides default parameters for the road network loader. (#46)
• Improves documentation. (#45)
• Adds circuit.osm map. (#44)
• Adds t_shape_road.osm map. (#43)
• Supports multiple segments per junction when correspond (#42)
• Fixes bug on connections (#41)
• Adds y_shape_road.osm map. (#39)
• Build branchpoints. (#33)
• Support loading yaml files for populating RoadNetwork's books. (#35)
• Adds loop_road_pedestrian_crosswalk map with yaml files. (#34)
• Parses connections from osm map. (#32)
• Adds l_shape_road map. (#31)
• Supports multiple lanes per segment. (#28)
• Adds c_shape_superelevated_road.osm. (#29)
• Parses adjacent lane information from osm maps. (#27)
• Adds multi_lanes_road map. (#25)
• Adds elevated_arc_lane map. (#23)
• Adds missing ament macro for exporting targets. (#20)
• Matches with branchpoint builder implementation. (#24)
• Adds arc_lane and arc_lane_dense maps. (#19)
• Adds RoadNetwork plugin. (#15)
• Adds RoadNetworkBuilder. (#14)
• Adds RoadGeometryBuilder. (#13)
• Adds OSMManager (#7)
  • Add straight_forward.osm map
• Fixes triage workflow. (#17)
• Implements osm::Lane and osm::Segment classes. (#5)
• Base configuration of the package/repository. (#4)
• Initial commit
• Contributors: Franco Cipollone