Maliput

Description

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 https://maliput.readthedocs.io/en/latest/maliput_overview.html.

API Documentation

Refer to Maliput's Online API Documentation.

Examples

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.

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.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

**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.

Contributing

Please see CONTRIBUTING page.

License