maliput_drake

Description

A clone of drake’s trajectory integration support for maliput backends.

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

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_drake.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_drake
    

For further info refer to Source Installation on Ubuntu

How to copy drake into maliput_drake?

Copying files

Follow this tentative guide (it may change release to release) to copy files from a drake release to this package:

1. Clone drake and point it to a specific release tag, e.g. v0.33.0:

git clone --depth 1 --branch v0.33.0 git@github.com:RobotLocomotion/drake.git $DRAKE_WS/drake

Please note the use of DRAKE_WS which is the path to drake’s workspace. You might want to create a docker container to run and configure drake on it but not necessarily place it inside maliput workspace to avoid any dependency collision.

1. Follow the instructions for the release to prepare the environment and install drake dependencies.

2. Derive which dependencies are necessary up to antiderivative_function and scalar_initial_value_problem:

cd $DRAKE_WS/drake
bazel query 'deps(//systems/analysis:antiderivative_function)' | sed -e 's#:.*##g;' | sort | uniq
bazel query 'deps(//systems/analysis:scalar_initial_value_problem)' | sed -e 's#:.*##g;' | sort | uniq

1. Create a new branch in this repo (maliput_drake) to update the files.

cd src/maliput_drake
git checkout -b username/bump_to_drake_v0.33.0

1. Remove the previous contents of the folders in maliput_drake/src and maliput_drake/include:

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