maliput_dragway

Description

Maliput_dragway is an implementation of Maliput’s API that allows users to instantiate a multilane dragway. All lanes in the dragway are straight, parallel, and in the same segment. The ends of each lane are connected together via a “magical loop” that results in vehicles traveling on the Dragway’s lanes instantaneously teleporting from one end of the lane to the opposite end of the lane.

The number of lanes and their lengths, widths, and shoulder widths are all user specifiable.

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

API Documentation

Refer to Maliput Dragway’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_dragway as the backend.

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_dragway.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_dragway
    

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

    colcon build --packages-select maliput_dragway --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