maliput_sparse package from maliput_sparse repo


Package Summary

Tags No category tags.
Version 0.2.3
License BSD Clause 3
Build type AMENT_CMAKE

Repository Summary

Checkout URI
VCS Type git
VCS Version main
Last Updated 2024-05-08
CI status No Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Maliput sparse is a maliput backend built on top of waypoints without any analytical model of the surface

Additional Links

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  • Daniel Stonier


No additional authors.




maliput_sparse is a convenient package that provides several helpers for creating a maliput backend that is expected to be built on top of waypoints without any analytical model of the surface.

By using the builder API, the mathematical model is solved under the hood so the user doesn't have to dive into complex geometric calculations.

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

API Documentation

Refer to Maliput sparse's Online API Documentation.


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_osm: This maliput backend works as example on how maliput_sparse can be used for easily creating a backend that is based on a format that uses waypoints for describing the roads.


Supported platforms

Ubuntu Focal Fossa 20.04 LTS, ROS2 Foxy.

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_sparse

**Note**: To build documentation a `-BUILD_DOCS` cmake flag is required:
    colcon build --packages-select maliput_sparse --cmake-args " -DBUILD_DOCS=On"

More info at [Building 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.


Please see CONTRIBUTING page.




Changelog for package maliput_sparse

0.2.3 (2023-02-15)

  • Relies on GetClosestPoint for the GetClosestPointUsing2dProjection method. (#53)
  • Stores linestring\'s points in a kdtree. (#52)
  • Precomputes linestring\'s segments intervals (#51)
  • Contributors: Franco Cipollone

0.2.2 (2023-01-06)

  • Fixes bug due to segments with zero length. (#49)
  • Contributors: Franco Cipollone

0.2.1 (2023-01-04)

  • Implements range validator for the geometry::utils methods. (#48)
  • Uses the closest point to calculate the equivalent p in a boundary. (#46)
  • Adds a adjacency checker for the builder. (#45)
  • Contributors: Franco Cipollone

0.2.0 (2022-12-12)

  • Builds up RoadGeometry out of parsed information. (#40)
  • Contributors: Franco Cipollone

0.1.0 (2022-11-28)

  • Improves documentation. (#43)
  • Uses RangeValidator within LaneGeometry. (#42)
  • Supports superelevation. (#38)
  • Supports passing custom centerline to the lane. (#37)
  • Fixes minor warning. (#36)
  • Update triage.yml (#35)
  • Overrides pendings RoadGeometry methods. (#29)
  • Builder for BranchPoints (#24)
  • Adds compare method for the LineStrings. (#28)
  • Lane::DoEvalMotionDerivatives. (#27)
  • Implements do_segment_bounds and DoToSegmentPositionBackend. (#23)
  • Builder API for the RoadGeometry (#11)
  • Implements Lane::DoToLanePositionBackend. (#22)
  • Adds r-bounds computations. (#19)
  • Adds a base class for RoadGeometry. (#21)
  • Expose lane_geometry header file as it is required by the builder API. (#20)
  • Adds Lane and implements LaneGeometry::WDot and LaneGeometry::WInverse. (#13)
  • Adds LaneGeometry class. (#8)
  • Rename maliput_sample folder to maliput_sparse. (#12)
  • Adds method for computing the centerline. (#9)
  • Adds LineString (#4)
  • Initial project skeleton. (#2)
  • Contributors: Agustin Alba Chicar, Franco Cipollone

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Launch files

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