Maliput ROS Interfaces

Description

This package contains a ROS2 messages and services definitions to interface with to and from maliput types and the ROS2 world.

maliput offers many pointers in its API, and to signal errors those pointers usually become nullptr. Given that it is not possible to represent natively nullptr in the ROS2 IDL, we decided to use the respective maliput::api::TypeSpecificIdentifier<T> string representation to identify entities. Please, note that these will become empty strings when they try to signal a nullptr.

API Documentation

Please, refer to each type. There are comments in most if not all the types that refer to the analogous type or procedure to acquire that information.

Installation

Supported platforms

Ubuntu Focal Fossa 20.04 LTS.

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/ros2_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_ros_interfaces

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_ros_interfaces

0.1.1 (2023-04-17)

• Adds READMEs to the packages. (#24)
• Sample lane s route (#21)
• Routing service (#20)
• Road position services (#19)
• Removes tests to avoid breaking CI with generated files. (#13)
• Adds the translation interface for geometric types. (#4)
• Adds geometric descriptions and a few basic requests for the entities. (#3)
• Create a message package (#2)
• Contributors: Agustin Alba Chicar