maliput_multilane

Description

maliput_multilane is an implementation of Maliput’s API that allows users to instantiate a road network with the following relevant characteristics:

• Multiple Lanes are allowed per Segment.
• Constant width Lanes.
• Segments with lateral asphalt extensions, aka shoulders.
• Line and Arc base geometries, composed with cubic elevation and superelevation polynomials.
• Semantic Builder API.
• YAML based map description.
• Adjustable linear tolerance.

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.

Resources

maliput_multilane provides several map resources at maliput_multilane/resources. These resources are YAML files that contains a description for the road geometry creation. Some of them, also describe maliput’s road network information like: Range Value Rules, Discrete Value Rules, Traffic Lights, Phase Rings, Intersections, etc.

Resources are installed natively, so the users are able to use them for their own interest. In order to get the installation path check the environment variable: MULTILANE_RESOURCE_ROOT.

API Documentation

Refer to Maliput Multilane’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_multilane as the backend.
• maliput_integration_tests: maliput_multilane is used extensively for the maliput integration tests.

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_multilane.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_multilane
    

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

    colcon build --packages-select maliput_multilane --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

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