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

2. Clone this repository in the src folder

   cd colcon_ws/src
   git clone https://github.com/maliput/maliput.git

3. Install package dependencies via rosdep

   export ROS_DISTRO=foxy
   

   rosdep update
   rosdep install -i -y --rosdistro $ROS_DISTRO --from-paths src

4. 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.

Profiling maliput

maliput is able to run a profiler for evaluating performance. It is implemented via ign-common3's profiler component.

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.

Steps

1. Install prerequisites. ign-common3 is not installed via rosdep as the profiler is only run on demand:

   sudo apt install libignition-common3-profiler-dev
   

2. Build maliput package using MALIPUT_PROFILER_ENABLE cmake argument: Continue the Source-Installation-on-Ubuntu instructions. The only difference is:

   colcon build --packages-select maliput --cmake-args " -DMALIPUT_PROFILER_ENABLE=On"
   

3. Run an application with your preferred maliput backend. In another terminal, open the visualizer for the profiler:

   ign_remotery_vis
   

   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).

Contributing

Please see CONTRIBUTING page.

License