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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.
Refer to Maliput's Online API Documentation.
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.
Ubuntu Focal Fossa 20.04 LTS.
Binary Installation on Ubuntu
See Installation Docs.
Source Installation on Ubuntu
sudo apt install python3-rosdep python3-colcon-common-extensions
- Create colcon workspace if you don't have one yet.
mkdir colcon_ws/src -p
- Clone this repository in the
cd colcon_ws/src git clone https://github.com/maliput/maliput.git
- Install package dependencies via
rosdep update rosdep install -i -y --rosdistro $ROS_DISTRO --from-paths src
- 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
It is recommended to follow the guidelines for setting up a development workspace as described here.
maliput is able to run a profiler for evaluating performance.
It is implemented via
In order to avoid any performance drop and to keep maliput dependency chain clean, this is disabled by default and the binaries aren't distributed with the profiler enabled.
For having the profiler enabled when using
maliput, it is mandatory to install
maliput from source.
- Install prerequisites.
ign-common3is not installed via
rosdepas the profiler is only run on demand:
sudo apt install libignition-common3-profiler-dev
MALIPUT_PROFILER_ENABLEcmake argument: Continue the Source-Installation-on-Ubuntu instructions. The only difference is:
colcon build --packages-select maliput --cmake-args " -DMALIPUT_PROFILER_ENABLE=On"
- Run an application with your preferred
maliputbackend. In another terminal, open the visualizer for the profiler:
_Note: As it opens a browser using `xdg-open`, it is recommended to have installed `xdg-utils` and a browser: (e.g: `sudo apt install -y xdg-utils firefox`)_.
Please see CONTRIBUTING page.